INFORMATION PROCESSING APPARATUS, MOVABLE APPARATUS, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM

To provide an information processing apparatus capable of creating a high-quality map with reduced measurement omissions, in an information processing apparatus, sensor information that includes shape information of a surrounding environment is acquired from a three-dimensional sensor mounted on a movable apparatus, position and orientation information of the three-dimensional sensor when the three-dimensional sensor has measured the shape information is acquired, map information for the creation of a shape map of the surrounding environment is created based on the shape information and the position and orientation information, a portion corresponding to a movable object in the shape information is recognized based on the sensor information, and a measurement omission region that corresponds to a measurement omission in the shape map is set based on the sensor information, the position and orientation measurement information, and the portion.