There are plenty of clues in the Pikmin series to suggest that the Pikmin's planet is in fact Earth at a point when humans are no longer around. The most clear-cut evidence to support this theory is during the ending of Pikmin 2, when the camera pulls back to reveal a blue sphere strikingly similar to own home world.
Pikmin 3 seemingly not only further supports the theory but also establishes a rough time frame for the game's events. According to the Pikmin Wiki entry on PNF-404, the planet's formal name, the surface of the world has been retconned to resemble Pangaea Ultima, a supercontinent configuration that represents what Earth could look like in 250 million years. Sure enough, laying a map of Pangaea Ultimate over the PNF-404 topography yields a damn near perfect match.
I love it when developers give you clues about a game universe's history without going into specific detail. In a time when background lore is often explained in exhaustive length, it's good to know there are still discoveries to be made if you look hard enough.
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