An endoscopic form detection device (1) includes a posture detecting section (30) configured to detect a posture of each of sensor units (S i ) based on measurement data in the sensor unit (S i ), and a linear form detecting section (40) configured to detect a detected linear form (61) of the inserting section (11) of the endoscope (10) on an assumption that a form between the respective sensor units (S i ) is a linear link (T j ) whose dimension is equal to the inter-sensor dimension (1) based on the posture of each of the sensor units (S i ) detected by the posture detecting section (30). The endoscopic form detection device (1) includes a curve form detecting section (50, 70) configured to perform curve interpolation with respect to the detected linear form (61) detected by the linear form detecting section (40) on an assumption that a form between the respective sensor units (S i ) is an arc (L j ) whose arc length is equal to the inter-sensor dimension (1), and configured to detect a detected curve form (65, 81).
