An endoscopic form detection device (1) includes a posture detecting section (30) configured to detect a posture of each of sensor units (Si) based on measurement data in the sensor unit (Si), and a linear form detecting section (40) configured to detect a detected linear form (71) of the inserting section (11) of the endoscope (10) on an assumption that a form between the respective sensor units (Si) is a linear link (Tj) whose dimension is equal to the inter-sensor dimension (1) based on the posture of each of the sensor units (Si) detected by the posture detecting section (30). Further, the endoscopic form detection device (1) includes a form correcting section (50, 150) configured to compensate at least a position of each of the sensor units (Si) by using a particle filter, and configured to detect a corrected form (75, 175) obtained by correcting the detected linear form (71) detected by the linear form detecting section (40).
