A moving object location/attitude angle estimation device for estimating a location and an attitude angle of a moving object, comprising: a fish-eye lens image acquisition unit configured to acquire a fish-eye lens image capturing a surrounding environment of the moving object with a fish-eye lens; a pinhole image acquisition unit configured to acquire a less distorted pinhole image for a predetermined region of the fish-eye lens image; an image selection unit configured to detect a bend degree of a driving road in a travelling direction of the moving object, to select the pinhole image when the bend degree is less than a predetermined value, and to select the fish-eye lens image when the bend degree is not less than the predetermined value; and a location/attitude angle estimation unit configured to estimate the location and the attitude angle of the moving object by matching an edge information of the image selected by the image selection unit with an edge information of a virtual image extracted from a three-dimensional map data, wherein the location/attitude angle estimation unit is configured - to match the edge information of the fish-eye lens image with the edge information of the virtual image extracted from the three-dimensional map data, with the virtual image being extracted from the three-dimensional map data by projecting the three-dimensional map data into an image taken with a fish-eye lens from a virtual location and a virtual attitude angle using a plurality of candidates for the virtual location and the virtual attitude angle, at the time when the fish-eve lens image is selected, and - to match the edge information of the pinhole image with the edge information of the virtual image extracted from the three-dimensional map data, with the virtual image being extracted by projection through a camera model of the pinhole image, at the time when the pinhole image is selected. a fish-eye lens image acquisition unit configured to acquire a fish-eye lens image capturing a surrounding environment of the moving object with a fish-eye lens; a pinhole image acquisition unit configured to acquire a less distorted pinhole image for a predetermined region of the fish-eye lens image; an image selection unit configured to detect a bend degree of a driving road in a travelling direction of the moving object, to select the pinhole image when the bend degree is less than a predetermined value, and to select the fish-eye lens image when the bend degree is not less than the predetermined value; and a location/attitude angle estimation unit configured to estimate the location and the attitude angle of the moving object by matching an edge information of the image selected by the image selection unit with an edge information of a virtual image extracted from a three-dimensional map data, wherein the location/attitude angle estimation unit is configured - to match the edge information of the fish-eye lens image with the edge information of the virtual image extracted from the three-dimensional map data, with the virtual image being extracted from the three-dimensional map data by projecting the three-dimensional map data into an image taken with a fish-eye lens from a virtual location and a virtual attitude angle using a plurality of candidates for the virtual location and the virtual attitude angle, at the time when the fish-eve lens image is selected, and - to match the edge information of the pinhole image with the edge information of the virtual image extracted from the three-dimensional map data, with the virtual image being extracted by projection through a camera model of the pinhole image, at the time when the pinhole image is selected. - to match the edge information of the fish-eye lens image with the edge information of the virtual image extracted from the three-dimensional map data, with the virtual image being extracted from the three-dimensional map data by projecting the three-dimensional map data into an image taken with a fish-eye lens from a virtual location and a virtual attitude angle using a plurality of candidates for the virtual location and the virtual attitude angle, at the time when the fish-eve lens image is selected, and - to match the edge information of the pinhole image with the edge information of the virtual image extracted from the three-dimensional map data, with the virtual image being extracted by projection through a camera model of the pinhole image, at the time when the pinhole image is selected.