1. An information processing apparatus comprising: a memory; and a processor coupled to the memory which executes the following: obtaining a plurality of relative positions and orientations with respect to an object relative to an imaging unit for each of a plurality of view points based on a plurality of images captured by imaging the object from the plurality of view points by the imaging unit; deriving, as a lacking relative position and orientation, a relative position and orientation of the imaging unit from which imaging by the imaging unit is lacking with respect to the object based on the obtained plurality of relative positions and orientations; and outputting information which indicates the derived lacking relative position and orientation, wherein the deriving includes: setting a plurality of virtual relative positions and orientations from which the object is imaged approximately uniformly with the object at a center; determining whether each of the virtual relative positions and orientations is similar to at least one of the obtained relative positions and orientations; and deriving the lacking relative position and orientation based on the virtual relative positions and orientations to each of which it is not determined that any of the obtained relative positions and orientations is similar.