An information processing apparatus of the present disclosure includes: a first acquisition unit that acquires distance information between a measurement target and a distance measurement sensor, which is measured by the distance measurement sensor; a second acquisition unit that acquires position information of a reflector that mirror-reflects a detection target detected by the distance measurement sensor; and an obstacle map creation unit that creates an obstacle map on the basis of the distance information acquired by the first acquisition unit and the position information of the reflector acquired by the second acquisition unit, in which the obstacle map creation unit creates a second obstacle map by specifying a first area in a first obstacle map including the first area created by mirror reflection of the reflector on the basis of the position information of the reflector, integrating a second area, which is obtained by inverting the specified first area with respect to a position of the reflector, into the first obstacle map, and deleting the first area from the first obstacle map.