MOVING OBJECT LOCATION/ATTITUDE ANGLE ESTIMATION DEVICE AND MOVING OBJECT LOCATION/ATTITUDE ANGLE ESTIMATION METHOD

A moving object location/attitude angle estimation device (10) of the present invention acquires a fish-eye lens image capturing a surrounding environment of a moving object with a fish-eye lens, and acquires a less distorted pinhole image for a predetermined region of the fish-eye lens image. Then, a bend degree of a driving road in a travelling direction of the moving object is detected. When the detected bend degree is less than a predetermined value, the pinhole image is selected. On the other hand, when the bend degree is not less than the predetermined value, the fish-eye lens image is selected. Thereafter, a location and an attitude angle of the moving object are estimated by matching an edge information of the selected image with a three-dimensional map data.