1. An information processing apparatus comprising: a storage unit configured to store a model representing a shape of a target object; an approximate position and orientation acquisition unit configured to acquire an approximate position and orientation of the target object; an acquisition unit configured to acquire a two-dimensional image of the target object and information about a three-dimensional point group on a surface of the target object; a detection unit configured to detect an image feature from the acquired two-dimensional image; an association unit configured to associate, based on the approximate position and orientation, the detected image feature with a geometric feature included in the model and to associate a distance point of the three-dimensional point group with the geometric feature included in the model; a first registration error acquisition unit configured to convert the image feature on the two-dimensional image into a three-dimensional space and acquire a first registration error between the converted image feature and the geometric feature of the model; a second registration error acquisition unit configured to acquire a second registration error between the associated distance point and the geometric feature of the model; and a position and orientation derivation unit configured to derive a position and orientation of the target object based on the acquired first registration error and the acquired second registration error.