A moving-object position/attitude estimation apparatus is provided with an image-capturing unit (2), a comparison-image-acquiring unit, a likelihood-setting unit (12), and a moving-object position/attitude estimation unit (13). The image-capturing unit (2) captures the vicinity of a moving object and acquires an image. The comparison-image-acquiring unit acquires a comparison image viewed from a predetermined position and attitude angle. The likelihood-setting unit (12) compares the captured image and the comparison image, sets the attitude angle likelihood of the comparison image as high when distant-position pixels in the captured image and distant-position pixels in the comparison image are consistent, and sets the position likelihood of the comparison as high when proximal-position pixels in the captured image and proximal-position pixels in the comparison image are consistent. The moving-object position/attitude estimation unit (13) estimates the attitude angle of the moving object on the basis of the attitude angle of a comparison image for which the attitude-angle likelihood was set as high, and estimates the position of the moving object on the basis of the position of a comparison image for which the position likelihood was set as high.