An information processing apparatus includes, an acquisition unit that acquires surface position information on an object, a decision unit that decides a measurement position for measuring the object based on the surface position information acquired by the acquisition unit, a measurement unit that measures contact position information on contact with the object at the measurement position decided by the decision unit, a creation unit that creates map information indicative of spatial position information on the object based on the contact position information measured by the measurement unit, and a recognition unit that recognizes the position and orientation of the object based on the map information created by the creation unit.