The present invention provides a measurement apparatus for measuring at least one of a position and an attitude of a work using an image obtained by capturing the work onto which pattern light having periodically arrayed lines is projected, including a determination unit configured to determine, based on luminance information about a period direction of luminance unevenness generated, due to periodic shape unevenness of the work, in the image obtained by an image capturing unit, a base-line direction defined by a relative tilt direction between an optical axis of a projection unit and an optical axis of the image capturing unit with respect to the work so that a period direction of the pattern light is different from a period direction of the shape unevenness of the work.