INFORMATION PROCESSING APPARATUS, MOVING BODY, METHOD FOR CONTROLLING INFORMATION PROCESSING APPARATUS, AND PROGRAM

An information processing apparatus (203) includes: a shape information acquiring means (204) configured to acquire shape information of a surrounding environment of a moving body measured by a sensor mounted in the moving body; a position and posture acquiring means (205) configured to acquire position and posture information of the sensor; a correction state acquiring means (207) configured to acquire a performance state relating to a process of correcting the position and posture information; a priority level determining means (208) configured to determine a priority level of an area for generating a map; and a map generating means (209) configured to generate the map on the basis of the shape information and the position and posture information acquired at the time of acquisition of the shape information, in which the map generating means (209) generates the map in order from an area of which the priority level is high in accordance with the performance state.