Information processing apparatus, information processing method, and storage medium

An information processing apparatus generates a map element that is based on a position and orientation of an image capturing apparatus and three-dimensional position information about a feature point included in an image, generates three-dimensional map information based on a plurality of map elements at a plurality of different positions and orientations, corrects, in such a way as to make smaller a reprojection error of a common feature point in a first map element group, at least one of a position and orientation of the image capturing apparatus and the three-dimensional position included in the first map element group, and corrects, in such a way as to make smaller a reprojection error of the common feature point with use of a second map element group, at least one of a position and orientation of the image capturing apparatus and the three-dimensional position information included in the second map element group.