A method of controlling a mobile robot, the method comprising: - acquiring an image of an inside of a traveling zone during traveling; - acquiring illuminance information through a sensor unit; - block-based feature point extraction comprising dividing the acquired image into blocks having a predetermined size and extracting a feature point from each of the divided block-unit images, wherein the block-based feature point extraction is performed in a case in which the illuminance information satisfies a condition set as a low-illuminance environment, wherein the block-based feature point extraction comprises creating a descriptor by block based on distribution characteristics of a brightness gradient of the block-unit images, block-based feature point matching comprising matching the feature point extracted in the block-based feature point extraction with block-based feature point information registered on a map, and recognizing a current location based on a result of the block-based feature point matching; and - point-based feature point extraction comprising extracting a feature point from the acquired image, wherein point-based feature point extraction is performed in a case in which the illuminance information does not satisfy the condition set as the low-illuminance environment, wherein the point-based feature point extraction comprises creating a descriptor corresponding to the extracted feature point based on distribution characteristics of a brightness gradient of pixels belonging to a certain area around the extracted feature point, matching the feature point extracted in the point-based feature point extraction with point-based feature point information registered on the map, and recognizing the current location based on a result of the point-based feature point matching. - acquiring an image of an inside of a traveling zone during traveling; - acquiring illuminance information through a sensor unit; - block-based feature point extraction comprising dividing the acquired image into blocks having a predetermined size and extracting a feature point from each of the divided block-unit images, wherein the block-based feature point extraction is performed in a case in which the illuminance information satisfies a condition set as a low-illuminance environment, wherein the block-based feature point extraction comprises creating a descriptor by block based on distribution characteristics of a brightness gradient of the block-unit images, block-based feature point matching comprising matching the feature point extracted in the block-based feature point extraction with block-based feature point information registered on a map, and recognizing a current location based on a result of the block-based feature point matching; and wherein the block-based feature point extraction is performed in a case in which the illuminance information satisfies a condition set as a low-illuminance environment, wherein the block-based feature point extraction comprises creating a descriptor by block based on distribution characteristics of a brightness gradient of the block-unit images, block-based feature point matching comprising matching the feature point extracted in the block-based feature point extraction with block-based feature point information registered on a map, and recognizing a current location based on a result of the block-based feature point matching; and - point-based feature point extraction comprising extracting a feature point from the acquired image, wherein point-based feature point extraction is performed in a case in which the illuminance information does not satisfy the condition set as the low-illuminance environment, wherein the point-based feature point extraction comprises creating a descriptor corresponding to the extracted feature point based on distribution characteristics of a brightness gradient of pixels belonging to a certain area around the extracted feature point, matching the feature point extracted in the point-based feature point extraction with point-based feature point information registered on the map, and recognizing the current location based on a result of the point-based feature point matching. extracting a feature point from the acquired image, wherein point-based feature point extraction is performed in a case in which the illuminance information does not satisfy the condition set as the low-illuminance environment, wherein the point-based feature point extraction comprises creating a descriptor corresponding to the extracted feature point based on distribution characteristics of a brightness gradient of pixels belonging to a certain area around the extracted feature point, matching the feature point extracted in the point-based feature point extraction with point-based feature point information registered on the map, and recognizing the current location based on a result of the point-based feature point matching.