An information processing apparatus that generates a three-dimensional model based on a plurality of camera images obtained using a plurality of cameras, performs: transforming, into two-dimensional coordinate points on a camera image, a plurality of representative coordinate points specified from one processing unit voxel of a plurality of processing unit voxels that are obtained by dividing a target three-dimensional space serving as a target of three-dimensional model generation; determining, by using transformation results of the plurality of representative coordinate points, a coordinate point on the camera image corresponding to an internal coordinate point of the one processing unit voxel; and generating the three-dimensional model based on the determined coordinate point on the camera image corresponding to the internal coordinate point of the one processing unit voxel.