Robot cleaner and controlling method thereof

A robot cleaner and controlling method thereof are disclosed. Accordingly, a cleaning area is partitioned with reference to a door by recognizing the door and the partitioned cleaning areas can be cleaned in consecutive order. The present invention includes the steps of deriving a door location in a cleaning area through an image information, composing a cleaning map by detecting an obstacle in the cleaning area, creating a room information for distinguishing a plurality of rooms partitioned with reference to the door from each other by having the derived door location reflected in the cleaning map, and performing a cleaning by room units distinguished from each other through the room information.