An information processing device comprising: an information acquisition unit configured to acquire feature measurement information comprising point cloud information indicating locations of surfaces of features including a road having a boundary, and to acquire trajectory information indicating a movement trajectory of a mobile object moving along the road at a time of measuring of the point cloud information; a candidate location information generation unit configured to generate candidate location information indicating locations of candidate elements for the boundary, based on the feature measurement information acquired by the information acquisition unit; a selection unit configured to select candidate elements from among the candidate elements indicated by the candidate location information generated by the candidate location information generation unit, based on the trajectory information acquired by the information acquisition unit; and a boundary location information generation unit configured to generate boundary location information indicating determined locations of the boundary, using the candidate elements selected by the selection unit, characterized in that the candidate location information generation unit includes a division unit configured to set a plurality of areas along the movement trajectory, and to divide the feature measurement information into sets respectively belonging to the plurality of areas, and a divided-area candidate location information generation unit configured to generate the candidate location information, based on the feature measurement information in each area after being divided by the division unit. an information acquisition unit configured to acquire feature measurement information comprising point cloud information indicating locations of surfaces of features including a road having a boundary, and to acquire trajectory information indicating a movement trajectory of a mobile object moving along the road at a time of measuring of the point cloud information; a candidate location information generation unit configured to generate candidate location information indicating locations of candidate elements for the boundary, based on the feature measurement information acquired by the information acquisition unit; a selection unit configured to select candidate elements from among the candidate elements indicated by the candidate location information generated by the candidate location information generation unit, based on the trajectory information acquired by the information acquisition unit; and a boundary location information generation unit configured to generate boundary location information indicating determined locations of the boundary, using the candidate elements selected by the selection unit, characterized in that the candidate location information generation unit includes a division unit configured to set a plurality of areas along the movement trajectory, and to divide the feature measurement information into sets respectively belonging to the plurality of areas, and a divided-area candidate location information generation unit configured to generate the candidate location information, based on the feature measurement information in each area after being divided by the division unit.