A equipment of localization of peduncle and a method of localization of peduncle that can achieve a stable harvesting motion by estimating the position of a peduncle even in the case where the peduncle is located behind fruits and the like and cannot be recognized as viewed from the image sensor side. The peduncle position estimating apparatus includes image acquiring section 102 that acquires an image of fruits； and estimation section 104 that estimates a position of a peduncle that is coupled with the fruits based on positions of the fruits and a distance between the fruits in the image acquired by the image acquiring section.
