1. An information processing apparatus, comprising: a first acquisition unit configured to acquire a probability at which a target object takes a target object state for each of target object states that the target object is allowed to take, and configured to acquire a distribution of the acquired probabilities; a second acquisition unit configured to acquire a success rate, for each relative target object state being determined in advance for a position and an orientation of an image capturing device, at which the target object is successfully identified from a captured image obtained by capturing, by the image capturing device, the target object having the relative target object state, and configured to acquire a distribution of the acquired success rates; and a determination unit configured to determine a position and orientation that the image capturing device is to take based on the distribution of the success rates acquired by said second acquisition unit for each of a plurality of positions and orientations that the image capturing apparatus is allowed to take, and the distribution of the probabilities acquired by said first acquisition unit.