The multi-aperture camera system includes a first aperture receiving an RGB optical signal, a second aperture distinguished from the first aperture and receiving an optical signal of which a wavelength is different from that of the RGB optical signal, an image sensor, a plurality of frame buffers, wherein the first and second images are respectively stored in the frame buffers, and a scan line-based processor unit (SPU) processing the first and second images using a scan line processing technique to determine a depth at at least one pixel of the first and second images. The first aperture and the second aperture are formed on a single optical system so as to be offset in a horizontal direction of the image sensor and thus have center positions deviated from each other.