Abstract: A position estimation system includes a prior map creator that creates a plurality of environmental maps using a first capture, and a position recognizer that estimates a position of a moving body based on a plurality of feature points included in the plurality of environmental maps and a feature point included in image information from a second capture provided in the moving body, in which the first capture includes a plurality of first imaging devices, a pair of adjacent first imaging devices among the plurality of first imaging devices is disposed so that parts of imaging visual fields of the adjacent first imaging devices overlap, and the second capture includes a second imaging device having a same imaging visual field as an imaging visual field of at least one first imaging device among the plurality of first imaging devices.