An information processing apparatus for estimating a position and orientation of a target object in a three-dimensional space, inputs a plurality of captured images obtained by imaging the target object from a plurality of viewpoints, clips, for each of the input captured images, a partial image corresponding to a region occupied by a predetermined partial space in the three-dimensional space, from the captured image, extracts, from a plurality of partial images clipped from the plurality of captured images, feature information indicating a feature of the plurality of partial images, stores dictionary information indicating a position and orientation of an object in association with feature information of the object corresponding to the position and orientation, and estimates the position and orientation of the target object by comparing the feature information of the extracted target object and the feature information indicated in the dictionary information.