The endoscope system according to the present invention has: an insertion unit for radiating illumination light, the insertion unit being inserted in a subject having a three-dimensional shape an imaging unit for receiving return light from a region inside the subject irradiated by the illumination light from the insertion unit and sequentially generating imaging signals and an image processing unit for generating three-dimensional data indicating the shape of a first region when a first imaging signal generated when return light from the first region is received is inputted, and generating three-dimensional data indicating the shape of a second region when a second imaging signal is inputted which is generated when return light from the second region is received after reception of return light from the first region, and generating a three-dimensional image on the basis of the three-dimensional data indicating the shape of the first and second regions and outputting the three-dimensional image to a display unit.
