1. An information processing apparatus for matching a position and/or orientation of a measurement object with that of a model of the measurement object, the information processing apparatus comprising: an acquisition unit configured to acquire a captured image of the measurement object; a calculation unit configured to calculate information indicating a shape and a position and/or orientation of a surface of the measurement object based on the captured image; and a limitation unit configured to limit a position and/or orientation of the model based on the information indicating the shape and the position and/or orientation of the surface.