A positioning apparatus comprising: a first calculator that is configured to calculate a first position and a first attitude of a moving body indicating a relative position and a relative attitude of the moving body with respect to a reference position and a reference attitude, based on a plurality of images captured by an image capturing apparatus mounted on the moving body ; a storage apparatus that is configured to store information on identifiers, positions, and attitudes of a plurality of markers disposed at predetermined positions and visually distinguishable from each other; a second calculator that is configured to extract one of the plurality of markers from an image captured by the image capturing apparatus , and to calculate a second position and a second attitude of the moving body indicating a position and an attitude of the moving body in the map, based on a position and an attitude of the one extracted marker ; and a corrector that is configured to correct the first position and the first attitude based on the second position and the second attitude to generate a corrected position and a corrected attitude of the moving body , characterized in that the storage apparatus is further configured to store information on a map containing a passageway for the moving body , and further characterized by : when the one extracted marker is disposed along the passageway , and an angular difference between a traveling direction of the moving body having the corrected position and the corrected attitude, and a direction of the passageway is smaller than a predetermined first threshold, the corrector is configured to correct the first attitude based on the direction of the passageway , instead of the second attitude. a first calculator that is configured to calculate a first position and a first attitude of a moving body indicating a relative position and a relative attitude of the moving body with respect to a reference position and a reference attitude, based on a plurality of images captured by an image capturing apparatus mounted on the moving body ; a storage apparatus that is configured to store information on identifiers, positions, and attitudes of a plurality of markers disposed at predetermined positions and visually distinguishable from each other; a second calculator that is configured to extract one of the plurality of markers from an image captured by the image capturing apparatus , and to calculate a second position and a second attitude of the moving body indicating a position and an attitude of the moving body in the map, based on a position and an attitude of the one extracted marker ; and a corrector that is configured to correct the first position and the first attitude based on the second position and the second attitude to generate a corrected position and a corrected attitude of the moving body , characterized in that the storage apparatus is further configured to store information on a map containing a passageway for the moving body , and further characterized by : when the one extracted marker is disposed along the passageway , and an angular difference between a traveling direction of the moving body having the corrected position and the corrected attitude, and a direction of the passageway is smaller than a predetermined first threshold, the corrector is configured to correct the first attitude based on the direction of the passageway , instead of the second attitude. <EOS>