Abstract: An image processing method includes the following steps: generating a current depth map and a current confidence map, wherein the current confidence map comprises the confidence value of each pixel; receiving a previous camera pose corresponding to a previous position, wherein the previous position corresponds to a first depth map and a first confidence map; mapping at least one pixel position of the first depth map to at least one pixel position of the current depth map according to the previous camera pose and the current camera pose of the current position; selecting the one with the highest confidence value after the confidence value of at least one pixel of the first confidence map is compared with the corresponding confidence value of the pixel of the current confidence map; and generating an optimized depth map of the current position according to the pixels corresponding to the highest confidence value.