An information processing apparatus includes a distance information acquisition unit configured to acquire distance information with respect to a measurement target object to determine interference between the object and a container for storing the object when the object is to be gripped, a derivation unit configured to derive a position and an orientation of the measurement target object based on the distance information and a partial model representing a partial shape of the measurement target object, and an interference determination unit configured, based on the position and the orientation derived by the derivation unit and a whole model representing a whole shape of the measurement target object, to determine whether interference has occurred between the measurement target object and the container for storing the measurement target object.