An image registration device includes a mapping section for deciding a first mapping for transforming the first image to an environmental map and a second mapping for transforming the second image to an environmental map, a corresponding point pair extractor for extracting a pair of corresponding points by detecting one point in the first image and the corresponding one point in the second image, a rotational mapping deriver for deriving a rotational mapping for registering an image of the first image in the environmental map and an image of the second image in the environmental map with each other, based on positions and local feature amounts of the points in the first and second images, and a registration section for registering the data of the first image with the data of the second image based on the first mapping, the rotational mapping, and the second mapping.
