An autonomous mobile apparatus includes a driving unit, a memory including a map memory, and a processor. The processor is configured to estimate an apparatus location based on information from the driving unit and estimate the apparatus location based on information from other than the driving unit. The processor is configured to acquire a location of an object around the autonomous mobile apparatus, create an environment map based on the estimated apparatus location and the acquired object location, and store the environment map in the map memory. The processor is configured to use, at a time of tracking when the estimation of the apparatus location based on the information from other than the driving unit is enabled, the environment map that is in the map memory at a time of reference determined by a time of loss when the estimation of the apparatus location is not enabled.