An information processing apparatus comprising: a normal line acquisition section configured to acquire normal vectors of surfaces of a known object from a single polarized image in which the known object is photographed, the known object being a polyhedron out of the group comprising: a) a polyhedron that is a 14-hedron in which eight vertexes of a cube are cut and triangular cross sections are set to a characteristic surface, b) a polyhedron that is a 8-hedron in which four vertexes of a regular tetrahedron are cut and triangular cross sections are set to a characteristic surface, c) a polyhedron that is a 14-hedron in which six vertexes of a regular octahedron are cut and quadrangular cross sections are set to a characteristic surface; and d) a polyhedron that is a 32-hedron in which twenty vertexes of a regular dodecahedron are cut and triangular cross sections are set to a characteristic surface; an object information acquisition section configured to acquire predetermined information regarding the polyhedron on a basis of respective relationships between angles of normal vectors, each normal vector relating to a respective surface out of a plurality of surfaces included in the polyhedron ; and an output data generation section configured to perform processing based on the predetermined information regarding the polyhedron and output a result of the processing, wherein the output data generation section outputs an orientation of the known object on the basis of said relationships as the result of the processing. a normal line acquisition section configured to acquire normal vectors of surfaces of a known object from a single polarized image in which the known object is photographed, the known object being a polyhedron out of the group comprising: a) a polyhedron that is a 14-hedron in which eight vertexes of a cube are cut and triangular cross sections are set to a characteristic surface, b) a polyhedron that is a 8-hedron in which four vertexes of a regular tetrahedron are cut and triangular cross sections are set to a characteristic surface, c) a polyhedron that is a 14-hedron in which six vertexes of a regular octahedron are cut and quadrangular cross sections are set to a characteristic surface; and d) a polyhedron that is a 32-hedron in which twenty vertexes of a regular dodecahedron are cut and triangular cross sections are set to a characteristic surface; a) a polyhedron that is a 14-hedron in which eight vertexes of a cube are cut and triangular cross sections are set to a characteristic surface, b) a polyhedron that is a 8-hedron in which four vertexes of a regular tetrahedron are cut and triangular cross sections are set to a characteristic surface, c) a polyhedron that is a 14-hedron in which six vertexes of a regular octahedron are cut and quadrangular cross sections are set to a characteristic surface; and d) a polyhedron that is a 32-hedron in which twenty vertexes of a regular dodecahedron are cut and triangular cross sections are set to a characteristic surface; an object information acquisition section configured to acquire predetermined information regarding the polyhedron on a basis of respective relationships between angles of normal vectors, each normal vector relating to a respective surface out of a plurality of surfaces included in the polyhedron ; and an output data generation section configured to perform processing based on the predetermined information regarding the polyhedron and output a result of the processing, wherein the output data generation section outputs an orientation of the known object on the basis of said relationships as the result of the processing. <EOS>