Apparatus and method for generating map

An apparatus for generating a map, comprising a processor configured to

• identify a lane line and a feature other than a lane line on a road from a first image of a predetermined location of the road taken downward from the sky;
• identify the lane line and the feature other than a lane line from a second image representing the predetermined location of the road, the second image being made based on images generated by capturing surroundings of a vehicle with a camera provided for the vehicle;
• align the first image with the second image, based on the predetermined location;
• deform the second image so that the feature other than a lane line in the second image best fits the feature in the first image;
• further deform the deformed second image in a direction perpendicular to the lane line so that the position of the feature other than a lane line remains unchanged and that the position of the lane line in the second image matches the position of the lane line in the first image;
• and
• combine the first image and the further deformed second image.