Patent ID: 8823779

Claim:
An information processing apparatus comprising: an input unit configured to sequentially acquire a first plurality of frame images from an image capturing apparatus for capturing a target object; a storage unit configured to store the first plurality of frame images acquired by the input unit; a measurement unit configured to select a first frame image from the first plurality of frame images, and configured to measure the position and orientation of the image capturing apparatus, when the image capturing apparatus has captured frame images which follow the first frame image, based on the first frame image; a first determination unit configured to determine whether a value of the position and orientation of the image capturing apparatus measured by the measurement unit is within a prescribed range; a second determination unit configured to determine whether a second plurality of frame images from the first plurality of frame images are stored in the storage unit between the first frame image and a frame image for which the value of the position and orientation of the image capturing apparatus is determined not to be within the prescribed range; and a control unit configured to perform control such that the measurement unit measures the position and orientation of the image capturing apparatus using a second frame image that is separated by a preset number of frames from the first frame image, in a case where the second determination unit determines that the second plurality of frame images are stored in the storage unit.