An information processing device comprising: a matching section configured to: match a feature point extracted from a captured image against a plurality of registered feature points (Pc) stored in a predetermined storage section; extract corresponding feature points in the captured image that correspond to the registered feature points; and determine whether the number of extracted corresponding feature points is greater than a predetermined value; a control section configured to set an exposure control value for a camera of an autonomous mobile body in accordance with area images only if it is determined that the number of extracted corresponding feature points is greater than the predetermined value, each of the area images being an image of an area comprising the corresponding feature point in the captured image and a limited amount of pixels adjacent to the feature point; and a self-location estimation section configured to perform, using the extracted feature point in the captured image, Visual-SLAM to estimate a location and posture of the autonomous mobile body comprising the information processing device, wherein the storage section is configured to store, as key frame information, three-dimensional location information regarding the respective registered feature point (Pc) included in a registered image captured beforehand, and a respective patch image (Pg) that is an image of an area comprising the respective registered feature point (Pc) and a limited amount of pixels adjacent to the feature point, the respective patch image (Pg) corresponding to the respective area image employed by the control section when setting the exposure control value, wherein the information processing device further comprises an area weight selection section configured to: select the area image of the captured image that corresponds to each of the plurality of the registered feature points (Pc) stored in the storage section; and set a weight for the selected plurality of the area images, and wherein the control section is further configured to: calculate a weighted average brightness of the plurality of the area images; and set the exposure control value in accordance with the weighted average brightness. a matching section configured to: match a feature point extracted from a captured image against a plurality of registered feature points (Pc) stored in a predetermined storage section; extract corresponding feature points in the captured image that correspond to the registered feature points; and determine whether the number of extracted corresponding feature points is greater than a predetermined value; match a feature point extracted from a captured image against a plurality of registered feature points (Pc) stored in a predetermined storage section; extract corresponding feature points in the captured image that correspond to the registered feature points; and determine whether the number of extracted corresponding feature points is greater than a predetermined value; a control section configured to set an exposure control value for a camera of an autonomous mobile body in accordance with area images only if it is determined that the number of extracted corresponding feature points is greater than the predetermined value, each of the area images being an image of an area comprising the corresponding feature point in the captured image and a limited amount of pixels adjacent to the feature point; and a self-location estimation section configured to perform, using the extracted feature point in the captured image, Visual-SLAM to estimate a location and posture of the autonomous mobile body comprising the information processing device, wherein the storage section is configured to store, as key frame information, three-dimensional location information regarding the respective registered feature point (Pc) included in a registered image captured beforehand, and a respective patch image (Pg) that is an image of an area comprising the respective registered feature point (Pc) and a limited amount of pixels adjacent to the feature point, the respective patch image (Pg) corresponding to the respective area image employed by the control section when setting the exposure control value, wherein the information processing device further comprises an area weight selection section configured to: select the area image of the captured image that corresponds to each of the plurality of the registered feature points (Pc) stored in the storage section; and set a weight for the selected plurality of the area images, and select the area image of the captured image that corresponds to each of the plurality of the registered feature points (Pc) stored in the storage section; and set a weight for the selected plurality of the area images, and wherein the control section is further configured to: calculate a weighted average brightness of the plurality of the area images; and calculate a weighted average brightness of the plurality of the area images; and set the exposure control value in accordance with the weighted average brightness.