To solve the problem wherein, in the registration of landmarks for an autonomous mobile apparatus such as a guide robot, redundant landmarks are often registered for the same object.

A video feature registration apparatus includes an extraction part for extracting an image feature point from each frame of image data taken in time series from video data and storing it in a storage part, a determination part for reading out the feature point from the storage part and determining whether the feature point satisfies a determination condition that the feature point is included in every frame in a predetermined period preceding and following the taken frame, and a registration part for registering the feature point in a registration table if the determination part determines that the condition is satisfied.

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