An information processing apparatus (20; 22) specifying at least one reference point of an object, the at least one reference point being used to derive a position or a moving speed of the object, the apparatus comprising: an acquirer configured to acquire positional information on a plurality of points surrounding the apparatus; a grouping unit configured to group the plurality of points into each point cluster constituting an object, including a first point cluster that is a cluster of reflection points of laser light reflected by a first object, and a second point cluster of reflection points of laser light reflected by a second object; a detector configured to detect end points from among a plurality of points constituting the first point cluster, each end point located at respective ends in a scanning direction of a sensor emitting the laser light; a setting unit configured to set, as a respective neighboring region of each end point, a range of a certain angle from a reference straight line toward the outside of the first object, the reference straight line passing through the apparatus and the end point; and a specifier configured to: specify a first one of the end points as one of the at least one reference point of the first object when at least a part of the second point cluster is present within the neighboring region of the first one of the end points, the part of the second point cluster being more distant than the first one of the end points from the apparatus, and not specify a second one of the end points as one of the at least one reference point of the first object when no part of a point cluster of reflection points of laser light reflected by a second object more distant than the second one of the end points from the apparatus is present within the neighboring region of the second one of the end points. an acquirer configured to acquire positional information on a plurality of points surrounding the apparatus; a grouping unit configured to group the plurality of points into each point cluster constituting an object, including a first point cluster that is a cluster of reflection points of laser light reflected by a first object, and a second point cluster of reflection points of laser light reflected by a second object; a detector configured to detect end points from among a plurality of points constituting the first point cluster, each end point located at respective ends in a scanning direction of a sensor emitting the laser light; a setting unit configured to set, as a respective neighboring region of each end point, a range of a certain angle from a reference straight line toward the outside of the first object, the reference straight line passing through the apparatus and the end point; and a specifier configured to: specify a first one of the end points as one of the at least one reference point of the first object when at least a part of the second point cluster is present within the neighboring region of the first one of the end points, the part of the second point cluster being more distant than the first one of the end points from the apparatus, and not specify a second one of the end points as one of the at least one reference point of the first object when no part of a point cluster of reflection points of laser light reflected by a second object more distant than the second one of the end points from the apparatus is present within the neighboring region of the second one of the end points. specify a first one of the end points as one of the at least one reference point of the first object when at least a part of the second point cluster is present within the neighboring region of the first one of the end points, the part of the second point cluster being more distant than the first one of the end points from the apparatus, and not specify a second one of the end points as one of the at least one reference point of the first object when no part of a point cluster of reflection points of laser light reflected by a second object more distant than the second one of the end points from the apparatus is present within the neighboring region of the second one of the end points.