Patent ID: 7911503

Claim:
An information processing apparatus comprising: an acquisition unit adapted to acquire a sensed image obtained by causing an image sensing device to sense a physical space including a physical object arranged in the physical space; a projection unit adapted to project, onto the sensed image, a virtual object which simulates the physical object and is arranged at a position and orientation of the physical object; a setting unit adapted to set a search range for each side of the virtual object projected onto the sensed image by said projection unit, near the side of the virtual object in the sensed image based on a positional relationship between the side and other sides of the virtual object; a search unit adapted to search for a side of the physical object on the sensed image within the search range for each side of the virtual object; and a calculation unit adapted to calculate a position and orientation relationship between the physical object and the image sensing device using a correspondence relationship between each side of the virtual object projected onto the sensed image by said projection unit and each side of the physical object located on the sensed image, the correspondence relationship being determined based on a result of the search by said search unit; wherein said setting unit comprises: a derivation unit adapted to derive a line segment between a plurality of sides of the virtual object; a first setting unit adapted to set a range near the line segment as a first search range constituting the search range; and a second setting unit adapted to set a range near the plurality of sides of the virtual object and outside of the first search range, as a second search range constituting the search range.