A robot cleaner, comprising: an image detecting unit configured to detect a plurality of images (image_t, image_t+1) by capturing peripheral circumstances; a feature point extracting unit configured to extract one or more feature points (hi, hi') having 2D coordinates information with respect to each of the plurality of images (image_t, image_t+1); a feature point matching unit configured to match the feature points (hi, hi') with each other by comparing the 2D coordinates information of the feature points (hi, hi') with each other; a control unit configured to create a matching point (X) having 3D coordinates information based on a matching result through the feature point matching unit , and configured to recognize a position of the robot cleaner based on the created matching point (X); and a storage unit configured to store therein the matching point (X) having 3D coordinates information, characterized in that : the 2D coordinates information comprises a position, an orientation and a descriptor of the feature point (hi, hi') on the image (image_t, image_t+1), the feature points (hi, hi') indicating images including a ceiling positioned at an upper side, and the descriptor indicates extraction information of the feature point (hi, hi') and indicates a characteristic of the feature point (hi, hi'), which corresponds to a matrix of a predetermined size and including the feature point (hi, hi') on the image. an image detecting unit configured to detect a plurality of images (image_t, image_t+1) by capturing peripheral circumstances; a feature point extracting unit configured to extract one or more feature points (hi, hi') having 2D coordinates information with respect to each of the plurality of images (image_t, image_t+1); a feature point matching unit configured to match the feature points (hi, hi') with each other by comparing the 2D coordinates information of the feature points (hi, hi') with each other; a control unit configured to create a matching point (X) having 3D coordinates information based on a matching result through the feature point matching unit , and configured to recognize a position of the robot cleaner based on the created matching point (X); and a storage unit configured to store therein the matching point (X) having 3D coordinates information, characterized in that : the 2D coordinates information comprises a position, an orientation and a descriptor of the feature point (hi, hi') on the image (image_t, image_t+1), the feature points (hi, hi') indicating images including a ceiling positioned at an upper side, and the descriptor indicates extraction information of the feature point (hi, hi') and indicates a characteristic of the feature point (hi, hi'), which corresponds to a matrix of a predetermined size and including the feature point (hi, hi') on the image. the 2D coordinates information comprises a position, an orientation and a descriptor of the feature point (hi, hi') on the image (image_t, image_t+1), the feature points (hi, hi') indicating images including a ceiling positioned at an upper side, and the descriptor indicates extraction information of the feature point (hi, hi') and indicates a characteristic of the feature point (hi, hi'), which corresponds to a matrix of a predetermined size and including the feature point (hi, hi') on the image. <EOS>