[Object] To simultaneously meet both of acquisition of depth information with high resolution and high accuracy and a reduction in diameter of a leading end of an endoscope.[Solving Means] Provided is an endoscope apparatus including: an irradiation unit that irradiates a subject with illumination light and with a structured pattern for acquiring depth information of the subject； and an acquisition unit that acquires reflected light of the light emitted by the irradiation unit. With this configuration, it is possible to simultaneously meet both of acquisition of depth information with high resolution and high accuracy and a reduction in diameter of a leading end of an endoscope.
