Mobile robot and control method thereof

A cleaner comprising:

• a main body having a suction opening;
• a cleaning unit provided within the main body and that sucks a cleaning target through the suction opening;
• a driving unit that moves the main body;
• a camera sensor that is attached to the main body and captures a first image;
• an operation sensor that senses information related to movement of the main body;
• and
• a controller that detects information related to an obstacle on a basis of at least one of the captured the image or the information related to movement, and controls the driving unit on a basis of the detected information related to the obstacle,
• wherein the controller segments the captured first image into a plurality of image regions, and detects first information related to the obstacle from the segmented image regions of the first image, and
• wherein when a preset time interval has lapsed since the first image was captured:
• the camera sensor captures a second image, and
• the controller converts the first image, projects the converted image to the second image to generate a third image, and compares the generated third image with the second image to detect second information related to the obstacle.