An image processing device includes an image segmentation unit, a stitching unit and a rendering unit. The image segmentation unit divides a plurality of input images into a plurality of first images and a plurality of second images based on color information and depth information. The plurality of input images are sequentially captured. The stitching unit generates a first panoramic image by synthesizing the plurality of first images, and generates a second panoramic image by synthesizing the plurality of second images. The rendering unit generates an output panoramic image based on the first panoramic image and the second panoramic image.