A method for scanning a body cavity by using an endoscope for capturing images of internal walls of the body cavity is provided. The method includes providing a two dimensional model of the internal walls of the body cavity, the model being used as a reference frame, capturing a sequence of images of the internal walls of the body cavity, associating a plurality of information with at least one of the captured images, and mapping each captured image on a corresponding pre-defined location on the reference frame in real time, in the order of capture, until no portion of the reference frame remains unmapped or until all acquired images are mapped.
