PURPOSE: To integrate a plurality of multi-viewpoint distance data by determining corresponding regions between a plurality of three-dimensional distance data obtained at different viewpoints and then determining a moving amount based on the corresponding regions thus determined.

CONSTITUTION: Data are acquired at different viewpoints through the use of a laser range finder equipped with a video camera, as a photographing position thus obtaining a plurality of range data, i.e., three-dimensional distance data on the surface of an object. The object is then measured in a slightly shifted viewing direction through the range finder and the procedure is repeated thus obtaining range data in a plurality of directions. Each data is subjected to regional division and some regions, which can be viewed even from other viewpoint at a high probability, are selected. Feature amount is then calculated for each region thus selected. Correspondence is then determined between two regions, from which the data are selected, based on the feature amount thus determined. Moving parameters are then determined for each of adjacent data and the data are integrated through coordinates conversion with reference to the coordinate system for data thus obtaining detailed shape information of the object.