Patent ID: 8483424

Claim:
An information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, the information processing apparatus comprising: a holding unit configured to hold three-dimensional information including a plurality of line segments that constitute the object; an acquisition unit configured to acquire an image of the object captured by the image capture device; a detection unit configured to detect a line segment from the image acquired by the acquisition unit; a determination unit configured to make a determination, for each of the line segments held by the holding unit, whether to use the line segment in a calculation of the position and orientation, based on the detected line segment and the line segments held by the holding unit; and a calculation unit configured to calculate a position and orientation of the image capture device based on correspondence between the line segment detected by the detection unit and the line segment, determined to be used by the determination unit, of the plurality of line segments held by the holding unit.