APPARATUS, METHOD, AND COMPUTER PROGRAM FOR GENERATING MAP

An apparatus for generating a map includes a processor configured to: detect an intersection and roads connected to the intersection from a bird's-eye view image, detect, for each road, an entry lane for entering the intersection and an exit lane for exiting the intersection included in the road, detect, for each road, a road marking represented in the road or a road structure from the bird's-eye view image, the road marking and the road structure indicating a direction in which vehicles are allowed to proceed, and generate a lane network representing a connection relationship between lanes in the intersection so as to connect, for each road, an entry lane of the road to an exit lane of another of the roads to which vehicles are allowed to proceed from the entry lane of the road, based on the road marking marked on the entry lane or the structure.