Disclosed is an image processing device, which includes a plurality of sensors that output two or more different types of sensing data, a processor that synchronizes the sensing data, extracts image processing-related information from the synchronized sensing data, and generates a gigapixel texture and a three-dimensional (3D) mesh based on the image processing-related information, a user interface that visualizes and outputs 3D cultural asset data generated based on the gigapixel texture and the 3D mesh, and a memory that stores the image processing-related information and the 3D cultural asset data. The image processing-related information includes a multi-viewpoint image, a calibration image, and a camera parameter.