A spatial motion calculation apparatus includes an image position relation calculation unit that calculates first similarities based on an image position relation between an inputted groups of feature points 1 and 2, a spatial position relation calculation unit that calculates second similarities based on an spatial position relation between said inputted groups, a feature descriptor relation calculation unit that calculates third similarities based on a feature descriptor relation between said inputted groups, and a spatial motion calculation unit that estimates the spatial motion based on the result that integrates the first to third similarities.