To provide an environment map generation method, environment map generation apparatus, and environment map generation program capable of highly accurately generating an environment map.SOLUTION: An environment map generation apparatus 10 includes: an acquisition part 12 that acquires a plurality of first images acquired by photographing a mobile body at each of a plurality of positions with a camera 30, while moving the mobile body along a travel route, and a plurality of second images acquired by photographing at each of a plurality positions with a camera 32, while moving the camera 32 in a direction of intersecting with the travel route; an extraction part 14 that extracts feature points from respective images of an image group including the plurality of first images and the plurality of second images; an association part 16 that associates feature points extracted from one images with feature points extracted from the other images between the images of the image group; and a generation part 18 that calculates three-dimensional positions of the respective associated feature points to generate an environment map including the three-dimensional positions of the respective feature points.SELECTED DRAWING: Figure 1
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