An apparatus for performing simultaneous localization and mapping (SLAM) with an imaging device having at least two lenses includes an Inertial Measurement Unit (IMU) configured to measure rotations of a second stereoscopic frame acquired at a second time point in related to a first stereoscopic frame at a first time point, and a controller configured to acquire the first stereoscopic frame and the second stereoscopic frame, acquire rotation data of the second stereoscopic frame from said IMU, and match said first and second stereoscopic frames by combining the rotation data with the first and second stereoscopic frames. Said first stereoscopic frame overlaps with said second stereoscopic frame by a predetermined percentage.