1. A method for estimating a pose of a mobile robot using a particle filter, the method comprising: sampling current particle on basis of initial position of the mobile robot; detecting a change in pose of the mobile robot and calculating pose of the current particle by applying the detected change in pose to the previous particle; predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information; resampling the current particle on the basis of the weight; and adjusting the weight in consideration of an error of the sensor.