A captured image acquisition section of an information processing apparatus acquires polarization image data including polarization information in a plurality of azimuths. An imaging apparatus information acquisition section acquires information regarding a position and posture of an imaging apparatus. A viewpoint control section of a subject information acquisition section controls a plurality of viewpoints from which polarization images are captured. A point-of-interest information acquisition section sets a pixel of interest having a degree of polarization equal to or higher than a threshold in a polarization image of a first viewpoint, identifies a pixel representing the same point of interest in a polarization image of a second viewpoint, and then obtains a line of intersection between incident planes acquired for the respective viewpoints as a normal vector. An output data generation section generates output data based on results thereof and outputs the data.