INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM

An information processing apparatus includes a first selection unit configured to select at least one map element from first three-dimensional map information including map elements each including a position and orientation of an image capturing apparatus mounted on a mobile object and three-dimensional positional information in an environment about a feature point included in an image of the environment captured by the image capturing apparatus, a second selection unit configured to select a map element including a feature point with three-dimensional positional information within a predetermined distance from a position indicated by the three-dimensional positional information about a feature point included in the map element selected by the first selection unit from map elements in second three-dimensional map information preliminarily created for the environment, and an association unit configured to associate the map element selected by the first selection unit with the map element selected by the second selection unit.