1. A robot apparatus comprising: an output unit that displays an image including an object on a screen; an input unit that receives an operation performed by a user for specifying information relating to an approximate range including the object in the image; an object extraction unit that extracts information regarding a two-dimensional contour of the object on the basis of the specification received by the input unit; and a position and attitude estimation unit that estimates information regarding a three-dimensional position and attitude of the object on the basis of the information regarding the two-dimensional contour.