1. An autonomous moving apparatus arranged to move autonomously in a surrounding environment, the autonomous moving apparatus comprising: a distance measuring sensor arranged to output detection waves, detect a distance between the autonomous moving apparatus and an object which has reflected a detection wave based on a reflection of the detection wave, and acquire distance information about the distance between the autonomous moving 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 when a detection result of the inclination sensor indicates that the distance measuring sensor is in a state having a constant inclination amount, regardless of whether the distance measuring sensor is inclined or not; stop estimating the self-position and generating the global map based on the distance information when the detection result of the inclination sensor indicates that the distance measuring sensor is in state having a changing inclination amount; and resume estimating the self-position in the surrounding environment and generating the global map of the surrounding environment based on the distance information when the detection result of the inclination sensor indicates that the distance measuring sensor has changed from the state having the changing inclination amount to the state having the constant inclination amount.