An endoscope system includes: an image storage section that stores image information associated with position information of a luminal organ of a subject a virtual endoscopic image generating section that generates a virtual endoscopic image endoscopically depicted an image pickup section that picks up an image in the luminal organ a position registration processing section that compares the virtual endoscopic image and an endoscopic image, and extracts an virtual endoscopic image similar to the endoscopic image a position estimation section that estimates a distal end position of an endoscope insertion portion a feature region determination section that determines whether or not the distal end position exists in a feature region a storage section that stores information for presentation and a candidate information presentation control section that presents the virtual endoscopic image based on the information in the storage section, to a display section as candidate information.
