An endoscope system includes: an insertion portion to be inserted into a predetermined luminal organ in a subject； an image pickup section provided in a vicinity of a distal end of the insertion portion, the image pickup section picking up an image of a predetermined range； an image pickup information acquiring section acquiring position information and gaze information about the image pickup section； a model image generating section generating a planar model image of the predetermined luminal organ； an image pasting processing section generating a pasted image obtained by pasting a subject image of an inside of the predetermined luminal organ onto the planar model image based on the position information and gaze information about the image pickup section； and an image pasting/presentation processing section presenting an image pickup range of the image pickup section on the pasted image based on the position information about the image pickup section.
