An outer shape of an outline of a structure which is a creation target of a drawing is acquired from map information, and distance images of a plurality of portions including annex information indicating an imaging position and an imaging direction captured by dividing the structure by a plurality of times from a Time Of Flight (TOF) camera are acquired. A connection processing unit connects the acquired distance images of the plurality of portions with each other, by using the annex information on the distance images, however, connects the distance images so that the distance images correspond to the outer shape of the structure, by using the outer shape of the structure at the time of the connection. A drawing creation unit automatically creates a drawing of the structure from the distance images (three-dimensional information on the entire structure) connected with each other.
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