POSITION ESTIMATION APPARATUS

A position estimation apparatus includes: an image information calculation unit that extracts each of image feature points from a plurality of images which are sequentially captured and associates the image feature points with each other between the plurality of images; a travel amount calculation unit that estimates the position of the mobile object; a three-dimensional image feature point calculation unit that estimates a three-dimensional position of the image feature point in a real space on the basis of a result of associating the image feature points with each other and the position of the mobile object; a position correction unit that corrects the three-dimensional position and the position of the mobile object so as to reduce a position error between a position of the three-dimensional position, when the three-dimensional position is reprojected onto any one of the plurality of images, in the relevant image and the image feature point; a route regeneration judgment unit that judges whether or not to regenerate the route on the basis of a result of comparison between the corrected position of the mobile object and the route.