An image processing apparatus includes: an information acquisition section configured to acquire information of an observation position and a visual line direction for observing an inside of a subject 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 another region of the objective optical system on a three-dimensional image of the subject a non-angle-of-view region extraction section configured to extract a non-angle-of-view region not in the angle of view on the three-dimensional image based on the boundary position information generated by the boundary position generation section and an image generation section configured to generate an identification image for a luminal organ model based on the three-dimensional image, the identification image being provided with identification information for identifying the non-angle-of view region.
