A cleaner comprising: a main body having a suction opening; a cleaning unit provided within the main body and configured to suck a cleaning target through the suction opening; a driving unit configured to move the main body; a camera sensor attached to the main body and configured to capture a first image and a second image, wherein the second image is captured when a preset time interval has lapsed since the first image was captured; an operation sensor configured to sense information related to movement of the main body; and a controller configured to detect information related to an obstacle on the basis of at least one of the captured images and the information related to movement and configured to controll the driving unit on the basis of the detected information related to the obstacle, wherein the controller is configured to segment the captured first image into a plurality of image regions, and to detect first information related to the obstacle from the segmented image regions, and wherein the controller is configured to convert the first image by performing inverse perspective mapping on the first image and by projecting the first image with respect to a reference image related to a floor corresponding to the first image, such that the first image is converted based on the assumption that there is no obstacle on the floor corresponding to the first image, project the converted image to the second image to generate a third image, and compare the generated third image with the second image based on a difference in color between the generated third image and the second image to detect second information (I) related to the obstacle. a main body having a suction opening; a cleaning unit provided within the main body and configured to suck a cleaning target through the suction opening; a driving unit configured to move the main body; a camera sensor attached to the main body and configured to capture a first image and a second image, wherein the second image is captured when a preset time interval has lapsed since the first image was captured; an operation sensor configured to sense information related to movement of the main body; and a controller configured to detect information related to an obstacle on the basis of at least one of the captured images and the information related to movement and configured to controll the driving unit on the basis of the detected information related to the obstacle, wherein the controller is configured to segment the captured first image into a plurality of image regions, and to detect first information related to the obstacle from the segmented image regions, and wherein the controller is configured to convert the first image by performing inverse perspective mapping on the first image and by projecting the first image with respect to a reference image related to a floor corresponding to the first image, such that the first image is converted based on the assumption that there is no obstacle on the floor corresponding to the first image, project the converted image to the second image to generate a third image, and compare the generated third image with the second image based on a difference in color between the generated third image and the second image to detect second information (I) related to the obstacle. <EOS>