An information processing apparatus, comprises an obtainment unit configured to obtain a relative position and orientation between a first object and a second object; an specifying unit configured to specify an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object; and a generation unit configured to generate information for obtaining a position and orientation of the first object based on the occlusion region.