LOCAL LOCATION COMPUTATION DEVICE AND LOCAL LOCATION COMPUTATION METHOD

A self-position calculating apparatus includes: a light projector 11 configured to project a patterned light beam onto a road surface around a vehicle; an image capturing unit 12 installed in the vehicle, and configured to capture and obtain an image of the road surface around the vehicle covering an area of the projected patterned light beam; an orientation angle calculator 22 configured to calculate an orientation angle of the vehicle relative to the road surface from a position of the patterned light beam on the image obtained by the image capturing unit 12; a feature point detector 23 configured to set a feature-point detection region surrounding the area of the projected patterned light beam on the image obtained by the image capturing unit 12, and to detect multiple feature points on the road surface within the feature-point detection region; an orientation change amount calculator 24 configured to calculate an amount of change in the orientation of the vehicle based on temporal changes in the multiple feature points on the road surface; and a self-position calculator 25 configured to calculate a current position and a current orientation angle of the vehicle by adding the amount of change in the orientation to an initial position and an initial orientation angle of the vehicle relative to the road surface.