An endoscope system and an endoscope (200) includes a patterned light providing unit (210) to provide patterned light having a pattern corresponding to a feature point first and second capturing units (220, 230) to capture an object onto which the patterned light is irradiated and a light transmitting unit (240) to transmit the patterned light to the object and transmit light reflected by the object to the first and second capturing units.
