  The Galactic supernova remnant HESS J1534-571 (also known as G323.7-1.0) has
a shell-like morphology in TeV gamma-ray emission and is a key object in the
study of cosmic ray origin. Little is known about its distance and local
environment. We examine Mopra $^{12}$CO/$^{13}$CO(1-0) data, Australian
Telescope Compact Array HI, and Parkes HI data towards HESS J1534-571. We trace
molecular clouds in at least five velocity ranges, including clumpy
interstellar medium structures near a dip in HI emission at a kinematic
velocity consistent with the Scutum-Crux arm at ~3.5 kpc. This feature may be a
cavity blown-out by the progenitor star, a scenario that suggests HESS
J1534-571 resulted from a core-collapse event. By employing parametrisations
fitted to a sample of supernova remnants of known distance, we find that the
radio continuum brightness of HESS J1534-571 is consistent with the ~3.5 kpc
kinematic distance of the Scutum-Crux arm HI dip. Modelling of the supernova
evolution suggests an ~8-24 kyr age for HESS J1534-571 at this distance.
