Patent ID: 8862267

Claim:
An apparatus comprising: a first obtaining unit configured to obtain an image of an object in a state where the object held by a holding unit is in front of an interface unit and is not inserted into the interface unit; a storing unit configured to store a first model of the object and a second model of the interface unit; a second obtaining unit configured to obtain a relative position and orientation between the object and the interface unit based on the first model, the second model and the obtained image; a calculating unit configured to calculate a first position and orientation of the object and a second position and orientation of the object based on the obtained relative position and orientation of the object, wherein the first position and orientation corresponding to a condition that a portion of the object is obliquely inserted in the interface unit, the second position and orientation corresponding to a condition that the object has been inserted in the interface unit; a movement path generating unit configured to generate a movement path which is from a position and orientation of the object held by a holding unit in a state where the object is in front of an interface unit and is not inserted into the interface unit, to the second position and orientation through the first position and orientation of the object; and a controller configured to move the holding unit along the generated movement path.