1. An information processing apparatus comprising: a camera-position detecting unit that detects a position of a camera on the basis of an image generated through the camera; and a storing unit that stores an updated environmental map which is updated based on an image recognition result using images captured by the camera and the position of the camera detected by the camera-position detecting unit, wherein the updated environmental map includes three dimensional feature information, wherein the camera-position detecting unit executes processing for calculating a camera position (Cw) and a camera rotation matrix (Rw) as estimated position and posture information of the camera, which are represented by a world coordinate system by using a feature point in the image, and outputting the camera position (Cw) and the camera rotation matrix (Rw) to a data constructing unit.