1. An information processing apparatus comprising: a holding unit configured to hold a shape model of an object to be measured; a first input unit configured to input an image of the object obtained by a first device; a second input unit configured to input range information obtained by a second device, wherein the range information indicates surface positions of the object; a first estimation unit configured to estimate a first degradation degree of the image caused by relative motion between the object and the first device, and a second degradation degree of the range information caused by relative motion between the object and the second device; and a second estimation unit configured to estimate a position and/or orientation of the object based on the image and/or range information, the shape model, and the first and second degradation degrees.