An image obtaining unit that obtains an image picked up by an image pickup apparatus, a first detection unit that detects a first feature from the image, a second detection unit that detects a second feature different from the first feature from the image by using a method different from a method of the first detection unit, a first position orientation derivation unit that derives a position orientation of the image pickup apparatus as a first position orientation on the basis of the first feature detected from the image, a second position orientation derivation unit that derives a position orientation of the image pickup apparatus as a second position orientation on the basis of the second feature detected from the image, and a decision unit that decides the position orientation of the image pickup apparatus on the basis of the first position orientation and the second position orientation are provided.