A three-dimensional map generating and displaying apparatus according to an exemplary embodiment of the present invention includes an acquiring unit which acquires pose information including position and rotation information on photographing points at which three-dimensional information on a three-dimensional space is acquired with respect to a global coordinate system; a generating unit which generates a plurality of local coordinate systems for the three-dimensional space according to at least one of a spatial contiguity and a temporal contiguity of the photographing points, based on the acquired pose information; and a display unit which when an observer of a virtual reality is located in the three-dimensional space, finds the photographing point corresponding to a point at which the observer is located using the plurality of local coordinate system and generates and displays the three-dimensional map using the three-dimensional information acquired from the photographing point.