An autonomous mobile apparatus, comprising: a memory; and a controller configured to acquire environment information that is information of a surrounding environment of the autonomous mobile apparatus, based on the acquired environment information, select, as an estimation environment map, an environment map that is suitable for the surrounding environment from among environment maps that are saved in the memory, and estimate a location of the autonomous mobile apparatus using the selected estimation environment map and an image of surroundings of the autonomous mobile apparatus that is captured by an imager; wherein the environment information acquired by the controller includes information of brightness of the surrounding environment; the controller is configured to acquire, at a given location, the environment information; characterized in that the controller is configured to acquire the environment information by capturing the image of the surroundings of the autonomous mobile apparatus with the imager; and the environment information includes (i) information of a number of regions, in the image of the surroundings of the autonomous mobile apparatus that is captured by the imager, that have a luminance equal to or higher than a predetermined reference luminance value or (ii) information of whether a region having a luminance higher than a luminance of surroundings of the region exists in a top part of the image of the surroundings of the autonomous mobile apparatus that is captured by the imager. a memory; and a controller configured to acquire environment information that is information of a surrounding environment of the autonomous mobile apparatus, based on the acquired environment information, select, as an estimation environment map, an environment map that is suitable for the surrounding environment from among environment maps that are saved in the memory, and estimate a location of the autonomous mobile apparatus using the selected estimation environment map and an image of surroundings of the autonomous mobile apparatus that is captured by an imager; wherein acquire environment information that is information of a surrounding environment of the autonomous mobile apparatus, based on the acquired environment information, select, as an estimation environment map, an environment map that is suitable for the surrounding environment from among environment maps that are saved in the memory, and estimate a location of the autonomous mobile apparatus using the selected estimation environment map and an image of surroundings of the autonomous mobile apparatus that is captured by an imager; wherein the environment information acquired by the controller includes information of brightness of the surrounding environment; the controller is configured to acquire, at a given location, the environment information; characterized in that the controller is configured to acquire the environment information by capturing the image of the surroundings of the autonomous mobile apparatus with the imager; and the environment information includes (i) information of a number of regions, in the image of the surroundings of the autonomous mobile apparatus that is captured by the imager, that have a luminance equal to or higher than a predetermined reference luminance value or (ii) information of whether a region having a luminance higher than a luminance of surroundings of the region exists in a top part of the image of the surroundings of the autonomous mobile apparatus that is captured by the imager.