An information processing apparatus comprising: a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object by position and posture matching with the measurement target object; a specific-degree-of-freedom setting unit configured to set first position and posture parameters and second position and posture parameters; an image acquiring unit configured to acquire an image of the measurement target object; a first position and posture acquiring unit configured to acquire values of first position and posture parameters of the three-dimensional form model in an image coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image; and a second position and posture acquiring unit configured to acquire values of the second position and posture parameters of the three-dimensional form model in the model coordinate system that is different from the image coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the value of first position and posture parameters; wherein the first position and posture acquiring unit acquires values for all of the first position and posture parameters which are not parameters representing the second position and posture among position and posture parameters of six degrees of freedom in the model coordinate system wherein the three-dimensional form model is rotation symmetrical about the model center axis, and wherein the second position and posture parameters comprise a rotation component of one degree of freedom about the model center axis and a translation component of one degree of freedom of the specific axis. a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object by position and posture matching with the measurement target object; a specific-degree-of-freedom setting unit configured to set first position and posture parameters and second position and posture parameters; an image acquiring unit configured to acquire an image of the measurement target object; a first position and posture acquiring unit configured to acquire values of first position and posture parameters of the three-dimensional form model in an image coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image; and a second position and posture acquiring unit configured to acquire values of the second position and posture parameters of the three-dimensional form model in the model coordinate system that is different from the image coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the value of first position and posture parameters; wherein the first position and posture acquiring unit acquires values for all of the first position and posture parameters which are not parameters representing the second position and posture among position and posture parameters of six degrees of freedom in the model coordinate system wherein the three-dimensional form model is rotation symmetrical about the model center axis, and wherein the second position and posture parameters comprise a rotation component of one degree of freedom about the model center axis and a translation component of one degree of freedom of the specific axis.