An information processing apparatus comprising: a determination unit configured to determine a plurality of measurement positions and/or orientations from which a 3D measurement sensor makes three-dimensional measurements; a controller configured to successively move the 3D measurement sensor to the plurality of measurement positions and/or orientations; a measurement unit configured to generate a plurality of 3D measurement data sets through three-dimensional measurement using the 3D measurement sensor at each of the plurality of measurement positions and/or orientations; and a data integration unit configured to integrate the plurality of 3D measurement data sets; wherein the data integration unit is configured such that, if a three-dimensional measurement is possible from a second measurement position and/or orientation that is different from a first measurement position and/or orientation out of the plurality of measurement positions and/or orientations, for a missing region where three-dimensional measurement is not possible from the first measurement position and/or orientation, the data integration unit applies the 3D measurement data set measured from the second measurement position and/or orientation to the missing region, characterized in that the data integration unit is further configured such that it applies a measurement result obtained from that measurement position and/or orientation having a shorter distance from a measurement object, out of the first measurement position and/or orientation and the second measurement position and/or orientation, to a region where a three-dimensional measurement is possible from the first measurement position and/or orientation and the second measurement position and/or orientation. a determination unit configured to determine a plurality of measurement positions and/or orientations from which a 3D measurement sensor makes three-dimensional measurements; a controller configured to successively move the 3D measurement sensor to the plurality of measurement positions and/or orientations; a measurement unit configured to generate a plurality of 3D measurement data sets through three-dimensional measurement using the 3D measurement sensor at each of the plurality of measurement positions and/or orientations; and a data integration unit configured to integrate the plurality of 3D measurement data sets; wherein the data integration unit is configured such that, if a three-dimensional measurement is possible from a second measurement position and/or orientation that is different from a first measurement position and/or orientation out of the plurality of measurement positions and/or orientations, for a missing region where three-dimensional measurement is not possible from the first measurement position and/or orientation, the data integration unit applies the 3D measurement data set measured from the second measurement position and/or orientation to the missing region, characterized in that the data integration unit is further configured such that it applies a measurement result obtained from that measurement position and/or orientation having a shorter distance from a measurement object, out of the first measurement position and/or orientation and the second measurement position and/or orientation, to a region where a three-dimensional measurement is possible from the first measurement position and/or orientation and the second measurement position and/or orientation.