1. A control method of a robot, comprising: acquiring a 3D image of an environment where the robot moves; extracting a feature point from the acquired 3D image and converting a plane including the extracted feature point into a reference image; and extracting image patches from the reference image using a central processing unit (CPU) and matching the image patches by obtaining 3D surface information using brightness values of the image patches using the CPU, wherein the reference image is an image corresponding to a reference distance.