An information processing apparatus which estimates a three-dimensional position-and-orientation of a measuring object using an imaging apparatus capable of capturing a two-dimensional image and a range image, includes a data storing unit configured to store verification data for estimating a position-and-orientation of a measuring object, a two-dimensional image input unit configured to input a two-dimensional image captured by the imaging apparatus in a first position-and-orientation, a range image input unit configured to input a range image captured by the imaging apparatus in a second position-and-orientation, a position-and-orientation information input unit configured to acquire position-and-orientation difference information which is relative position-and-orientation information in the first position-and-orientation and the second position-and-orientation, and a calculation unit configured to calculate, based on the position-and-orientation difference information, a position-and-orientation of the measuring object so that the verification data for estimating the position-and-orientation matches the two-dimensional image and the range image.