mobile robot in the present invention can accurately estimate the self location through the mobile robot itself is correct recognition marker as to provide a self-location detection apparatus and method, the self location recognition system of a mobile robot of the present invention is a color camera and a ceiling-proof, self-awareness at the front position of the mobile robot to recognize the self location recognition mark of the mobile robot forward-oriented color cameras, color and the front-oriented tilt control unit for controlling a tilt angle (Tilt angle) of the camera, the color camera and the front ceiling oriented oriented forward of the recognized marker and the ceiling by the color camera for the recognition of objects processing a video signal for the object and the image signal processing and an output unit for outputting it, and a main control unit for controlling the video signal processing and output part and controls the mobile robot at the same time, and the travel sensor for distance measurement and obstacle detection The configuration includes a mobile base for the distance and angle extraction.
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