An information processing apparatus comprising: an image analysis section configured to acquire an image of a real object with known preset size candidates in a real space captured by a predetermined imaging section and to perform object recognition processing on the acquired image to recognize the real object in the image based on similarity between feature quantities of the real object and feature quantities of known physical objects stored in advance in a storage area, a distance estimation section configured to acquire, from a predetermined distance measuring section, depth information indicating measurement results of distances between the imaging section and the captured real space and to estimate a distance between the imaging section and the real object by recognizing the position of the real object in the image on the basis of the object recognition result acquired from the image analysis section and by extracting depth information indicating a measurement result of a distance corresponding to the recognized position in the image from the acquired depth information; a size estimation section configured to estimate a size of the real object in the real space on a basis of a size of the recognized real object in the image and the estimation result of the distance, and by comparing the estimation result of the size to a plurality of preset size candidates of the real object, to specify the size of the real object in the real space; and a recognition section that estimates a positional relationship between the real object and the imaging section on a basis of the specification result of the size of the real object in the real space. an image analysis section configured to acquire an image of a real object with known preset size candidates in a real space captured by a predetermined imaging section and to perform object recognition processing on the acquired image to recognize the real object in the image based on similarity between feature quantities of the real object and feature quantities of known physical objects stored in advance in a storage area, a distance estimation section configured to acquire, from a predetermined distance measuring section, depth information indicating measurement results of distances between the imaging section and the captured real space and to estimate a distance between the imaging section and the real object by recognizing the position of the real object in the image on the basis of the object recognition result acquired from the image analysis section and by extracting depth information indicating a measurement result of a distance corresponding to the recognized position in the image from the acquired depth information; a size estimation section configured to estimate a size of the real object in the real space on a basis of a size of the recognized real object in the image and the estimation result of the distance, and by comparing the estimation result of the size to a plurality of preset size candidates of the real object, to specify the size of the real object in the real space; and a recognition section that estimates a positional relationship between the real object and the imaging section on a basis of the specification result of the size of the real object in the real space.