A method includes acquiring an image through a visual sensor during a movement of a mobile device. The method includes matching the image with key frames stored in a key frame database. The key frames are created based on two-dimensional coordinates of feature points included in a plurality of images previously acquired through the visual sensor. The method also includes computing a visual relative pose based on two-dimensional coordinates of matching feature points included in both of the image and the one or more key frames that have been matched with the image. The method also includes computing relevant information of the visual relative pose based on the two-dimensional coordinates of the matching feature points. The method further includes updating an absolute pose of the mobile device and a map based on the relevant information of the visual relative pose and relevant information of a dead reckoning based relative pose.