Information processing apparatus, method of controlling information processing apparatus, and storage medium

A method of controlling an information processing apparatus, comprising:

• obtaining a relative position and orientation between a first object and a second object;
• specifying an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object;
• and
• generating information for obtaining a position and orientation of the first object based on the occlusion region.

A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute:

• obtaining a relative position and orientation between a first object and a second object;
• specifying an occlusion region where the second object occludes the first object, from an image that includes the first object and the second object, based on the relative position and orientation, a first shape model that represents a shape of the first object, and a second shape model that represents a shape of the second object;
• and
• generating information for obtaining a position and orientation of the first object based on the occlusion region.