Based on a three-dimensional map in which three-dimensional information of a scene captured by an image capturing apparatus and a position and orientation of the apparatus are associated with each other and an image captured by the apparatus, a first position and orientation of the apparatus at the time of capturing the image is derived. The map is updated based on the captured image and the first position and orientation. A relative position and orientation between the first position and orientation and a second position and orientation of the apparatus derived by a method different from a method of deriving the first position and orientation or at a point of time different from a point of time of deriving the first position and orientation is derived. The map is corrected based on the relative position and orientation.