To obtain such an absolute shape which serves for understanding a full picture of an object such as a size, shape and position, in an endoscope system.

A position and posture of the distal end of the insertion section 100 of the endoscope system are detected by a position and posture detection device 120, at a position to carry out photographing. The object is irradiated with single wavelength lights of λA, λB with a short distance illuminator lens 105 and a single wavelength light of λC with a long distance illuminator lens 107. The reflected lights of these illumination are separated into λA, λB and λC and are photographed independently, and distances from light emitting positions of each portion in the object are calculated with a computer 140 by operation based on reflecting intensity ratio of each corresponding portion in the images photographed independently. A three-dimensional image displaying cubic shape of photographed images is created by a coordinate and posture in three-dimensional space of the distal end of the insertion section 100 of the endoscope system, and by the distances from the distal position to each portion in the subject.