A positioning apparatus comprising: an imaging unit that is mounted in a mobile object and is configured to image a first scenery image at a first spot where said mobile object exists; a feature extraction unit that is configured to extract a first image feature from said first scenery image having been imaged by said imaging unit; an approximate position information acquisition unit that is configured to acquire a piece of first position information which is a piece of approximate position information related to said mobile object existing at said first spot; a scenery image feature storage unit that stores therein a piece of second position information corresponding to each of second spots which are spots on a movement route along which said mobile object is predicted to move, as well as a second image feature of a second scenery image having been imaged in advance at each of said second spots, such that said piece of second position information and said second image feature are correlated with each other; a candidate scenery image data selection unit that, on the basis of distances between a spot indicated by said piece of first position information and spots indicated by said respective pieces of second position information, is configured to select said plurality pieces of second position information and corresponding said plurality of second image features from inside of said scenery image feature storage unit; a relative position calculation unit that is configured to collates said first image feature with each of said plurality of second image features having been selected by said candidate scenery image data selection unit, and thereby to calculate pieces of relative position information between said first spot and said respective second spots corresponding to said selected plurality of second image features; and a relative position consistency determination unit that is configured to determine consistency among said plurality pieces of relative position information having been calculated by said relative position calculation unit, and to output a piece of determinate position information related to said mobile object on the basis of a result of said determination. an imaging unit that is mounted in a mobile object and is configured to image a first scenery image at a first spot where said mobile object exists; a feature extraction unit that is configured to extract a first image feature from said first scenery image having been imaged by said imaging unit; an approximate position information acquisition unit that is configured to acquire a piece of first position information which is a piece of approximate position information related to said mobile object existing at said first spot; a scenery image feature storage unit that stores therein a piece of second position information corresponding to each of second spots which are spots on a movement route along which said mobile object is predicted to move, as well as a second image feature of a second scenery image having been imaged in advance at each of said second spots, such that said piece of second position information and said second image feature are correlated with each other; a candidate scenery image data selection unit that, on the basis of distances between a spot indicated by said piece of first position information and spots indicated by said respective pieces of second position information, is configured to select said plurality pieces of second position information and corresponding said plurality of second image features from inside of said scenery image feature storage unit; a relative position calculation unit that is configured to collates said first image feature with each of said plurality of second image features having been selected by said candidate scenery image data selection unit, and thereby to calculate pieces of relative position information between said first spot and said respective second spots corresponding to said selected plurality of second image features; and a relative position consistency determination unit that is configured to determine consistency among said plurality pieces of relative position information having been calculated by said relative position calculation unit, and to output a piece of determinate position information related to said mobile object on the basis of a result of said determination.