SELF-LOCATION ESTIMATION DEVICE, AUTONOMOUS MOBILE BODY, SELF-LOCATION ESTIMATION METHOD, AND PROGRAM

A self-location estimation device includes a first self-location estimation unit, a second self-location estimation unit, and a first integration unit. The first self-location estimation unit estimates a current first self-location of an autonomous mobile body based on current image information acquired by an image sensor and environmental map information stored in an environmental map information storage unit. The second self-location estimation unit estimates a current second self-location of the autonomous mobile body based on the current image information and a learned parameter learned using the environmental map information. The first integration unit estimates a current self-location of the autonomous mobile body by integrating the first self-location and the second self-location.