System for estimating self-position of the mobile robot using monocular zoom-camara and method therefor

A system and a method for estimating a self-position of a mobile robot using a monocular zoom-camera are provided to reduce error of distance information by calculating rotation and movement parameters on a characteristic point. A system for estimating a self-position of a mobile robot using a monocular zoom-camera includes a camera(100), a main processing unit(300), and a serial communication unit(200). The camera obtains images on a working area of a mobile robot. The main processing unit stores initial images from the camera as a reference image, sets a map database based on characteristic points, matching points, relative positions of the mobile robot, compares images obtained from movement of the mobile robot with the reference image, and produces relative and absolute positions and posture information of the mobile robot according to the comparison result. The serial communication unit is an information transmission path between the camera and the main processing unit.