An image processing apparatus includes: a storage section configured to store information of a three-dimensional image of a subject acquired in advance a luminal organ extraction section configured to extract a predetermined luminal organ existing in the three-dimensional image an information acquisition section configured to acquire information of an observation position and a visual line direction for observing an inside of the predetermined luminal organ by using an objective optical system a boundary position generation section configured to generate boundary position information indicating a boundary position of an angle-of-view region and a non-angle-of-view region on a three-dimensional image of the predetermined luminal organ a non-angle-of-view region extraction section configured to extract the non-angle-of-view region not in the angle of view in the three-dimensional image of the predetermined luminal organ based on the boundary position information that changes with a temporal change in the observation position and the visual line direction and an image generation section configured to generate an identification image for the three-dimensional image of the predetermined luminal organ, the identification image being provided with identification information for identifying the non-angle-of view region.
