Information processing apparatus, information processing method, and medium

An information processing apparatus comprising:

• one or more non-transitory computer-readable storage media;
• and
• one or more processors in communication with the one or more non-transitory computer-readable storage media, wherein the one or more processors and the one or more non-transitory computer-readable storage media are configured to:
• acquire a plurality of map elements from a storage unit storing three-dimensional map information based on the plurality of map elements, each of which includes an image captured by an imaging apparatus mounted on a vehicle and also includes position information indicating a position of the imaging apparatus at which the image was captured;
• determine whether the position indicated by the position information included in a specific first map element, of the plurality of map elements, and the position indicated by the position information included in one or more second map elements of the plurality of map elements, are separated by at least a predetermined distance;
• determine whether a similarity between an image feature of the image included in the specific first map element and an image feature of the image included in the one or more second map elements is equal to or greater than a threshold value;
• and
• in a case where the position indicated by the position information included in the specific first map element and the position indicated by the position information included in the one or more second map elements are separated by at least the predetermined distance and where the similarity between the image feature of the image included in the specific first map element and the image feature of the image included in the one or more second map elements is equal to or greater than the threshold value, generate display data for displaying, in a manner different from other map elements, that an association exists between the position indicated by the position information included in the specific first map element and the position indicated by the position information included in at least one of the one or more second map elements such that the displaying indicates that, when the imaging apparatus is at the position indicated by the position information included in the specific first map element, in a re-localization process, the position indicated by the position information included in the specific first map element and the position indicated by the position information included in the at least one of the one or more second map elements are candidates for estimation as the position of the imaging apparatus.