1. An autonomous moving apparatus arranged to move autonomously in a surrounding environment, the apparatus comprising: a distance measuring sensor arranged to output detection waves, detect a distance between the apparatus and an object which has reflected a detection wave based on a reflection of the detection wave, and acquire information about the distance between the apparatus and the object which has reflected the detection wave; an inclination sensor arranged to detect a state of inclination of the distance measuring sensor; and a control unit arranged to: estimate a self-position in the surrounding environment and generate a global map of the surrounding environment based on the distance information; and stop estimating the self-position and generating the global map when a detection result of the inclination sensor determines that the distance measuring sensor is in an inclined state.