An information processing device being a terminal device (100a; 100b) possessed by a user, comprising: an imaging unit realized as a camera having an imaging element; a global map acquiring unit that acquires a part of a global map, representing positions of objects in a real space, from a server device (10, 220) storing the global map, wherein the global map acquiring unit acquires the part of the global map corresponding to a local area containing a position of the terminal device (100a; 100b) in the real space; a local map generating unit that generates a local map, representing positions of objects, based on an input image captured by the imaging unit, wherein the local map generating unit generates the local map based on the input image obtained by imaging the real space using the imaging unit and feature data indicating features of objects corresponding to physical objects which are present in the real space; a calculating unit that calculates a relative position and a posture of the local map to the global map based on position data of included in the global map and position data of objects included in the local map; a converting unit that performs coordinate conversion from the position data of objects included in the local map to data of a coordinate system of the global map according to the relative position and the posture of the local map calculated by the calculating unit, and an updating unit that updates said part of the global map of the server device (10, 220) based on the position data of objects included in the local map by transmitting position data included in the local map to the server device (10; 220), such that an updating unit of the server device (10; 220) updates the global map stored in a global map storage by using the position data of objects included in the transmitted updated part of the global map, wherein the updating unit updates said part of the global map by using the position data of objects included in the local map after the coordinate conversion by the converting unit. an imaging unit realized as a camera having an imaging element; a global map acquiring unit that acquires a part of a global map, representing positions of objects in a real space, from a server device (10, 220) storing the global map, wherein the global map acquiring unit acquires the part of the global map corresponding to a local area containing a position of the terminal device (100a; 100b) in the real space; a local map generating unit that generates a local map, representing positions of objects, based on an input image captured by the imaging unit, wherein the local map generating unit generates the local map based on the input image obtained by imaging the real space using the imaging unit and feature data indicating features of objects corresponding to physical objects which are present in the real space; a calculating unit that calculates a relative position and a posture of the local map to the global map based on position data of included in the global map and position data of objects included in the local map; a converting unit that performs coordinate conversion from the position data of objects included in the local map to data of a coordinate system of the global map according to the relative position and the posture of the local map calculated by the calculating unit, and an updating unit that updates said part of the global map of the server device (10, 220) based on the position data of objects included in the local map by transmitting position data included in the local map to the server device (10; 220), such that an updating unit of the server device (10; 220) updates the global map stored in a global map storage by using the position data of objects included in the transmitted updated part of the global map, wherein the updating unit updates said part of the global map by using the position data of objects included in the local map after the coordinate conversion by the converting unit.