1. An information processing apparatus for estimating a position and orientation of a target object in a three-dimensional space, comprising: an input unit configured to input a plurality of captured images obtained by imaging the target object from a plurality of viewpoints; a setting unit configured to set a partial space in the three-dimensional space; a changing unit configured to change a position of the partial space in the three-dimensional space; a clipping unit configured to clip, for each of the input captured images, a partial image corresponding to the partial space in the three-dimensional space each time said changing unit changes the position of the partial space; an extraction unit configured to extract, from each of the partial images clipped from the plurality of captured images, a feature information set indicating a feature of a set of the plurality of partial images each time said changing unit changes the position of the partial space; a storage unit configured to store dictionary information indicating a position and orientation of an object in association with feature information of the object corresponding to the position and orientation; and an estimation unit configured to estimate the position and orientation of the target object by comparing each feature information set extracted by the extraction unit and the feature information indicated in the dictionary information.