According to one aspect in the invention, a mobile robot includes a photographing unit for photographing a 3D image around a mobile robot and extracting depth image information for the photographed 3Dimage; an obstacle sensing unit for sensing an obstacle using the 3D image photographed by the photographing unit; a position estimator for estimating first position information of the mobile robot in an area excluding an obstacle area recognized by the obstacle sensing unit by using an inertia sensor (IMU) and an odometer; and a control unit for calculating second position information of the mobile robot by correcting the estimated first position information of the mobile robot on the basis of the extracted depth image information and drawing a map of the area excluding the obstacle area recognized by the obstacle sensing unit.