A method and apparatus for generating a 3D model through tracking of an RGB-D camera are disclosed. A method of generating a 3D model according to an embodiment of the present invention includes: identifying an RGB image and a depth image obtained from an RGB-D camera; designating an initial camera pose of the RGB-D camera for each original frame of the depth image and the RGB image; The final camera for each original frame by updating the initial camera pose using the difference between the original frame converted according to the initial camera position and the remaining original frames among the two original frames adjacent in time in the depth image and the RGB image determining a pose; selecting key vertices capable of covering all vertices from among original vertices corresponding to each original frame of the depth image and the RGB image; and generating a 3D model by using key frames corresponding to the key vertices in the original frame of the depth image and the RGB image and a final camera pose corresponding to the key frame.
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