This weekend Yorii town is celebrating a 2 day Autumn festival. The festival is held every year on the 1st Sunday of November and its proceeding Saturday, which this year happens to fall on October 31st.
It starts at 3.30pm on Saturday the 31st with 7 floats of lanterns accompanied with Japanese traditional festival music played on whistles and taiko drums. The following day, Sunday the 1st of November, the floats will also parade through town and try to outdo each other in their music performances. Sunday celebrations start from 11am.
I found this video online from 2010. (Disclaimer: I have no affiliation to this youtube account).
Yorii is a small rural town, but is easily accessible from the Kanetsu highway. It is home to the Saitama Museum of Rivers, but is probably better known for its “Le Petit Prince” themed parking area.
Source: 寄居秋まつり – 寄居町公式ホームページ Yorii Autumn Festival – Yorii Town Official page