MAP GENERATION APPARATUS, MAP GENERATION METHOD, AND NON-TRANSITORY COMPUTER-READABLE MEDIUM STORING PROGRAM

An object is to provide a map generation apparatus for improving the quality of an environment map created using virtual images. A map generation apparatus (10) according to the present disclosure includes: a map generation unit (11) configured to generate a three-dimensional map showing an environment around a photographing device by identifying shooting locations of a plurality of still images shot by the photographing device and restoring three-dimensional positions of feature points marked in each image of the plurality of the still images; a generation unit (12) configured to generate a virtual image when the three-dimensional positions of each of the feature points on the three-dimensional map corresponding to the feature points in the still images are shot from a virtual viewpoint; and an update unit (13) configured to update the three-dimensional map with reference to the virtual feature points in the virtual image.