1. A mobile robot, comprising: an image sensor configured to obtain an image; a second sensor configured to obtain driving information including at least a driving direction and a driving distance of the mobile robot; a processor configured to process the image obtained by the image obtaining unit to extract a feature point and generate a descriptor for the feature point; and a main controller configured to generate a spatial map in a driving range based on the feature point and the driving information, and control localization and navigation of the mobile robot, wherein when the localization and the navigation of the mobile robot are performed, the main controller selectively applies a first driving mode that simultaneously uses the image and the driving information when the matching degree of the obtained image and a reference image meet a threshold, and the main controller selectively applies a second driving mode that uses only the image information when the matching degree of the obtained image and a reference image do not meet the threshold; wherein the processor generates change in brightness and direction information for n×n sub regions divided from the obtained image and selects direction information of different two sub regions in the n×n sub regions to generate a pair-wise combination to describe the angle difference in local direction information, and thereby generates the descriptor based on the pair-wise combination.