A three-dimensional shape measurement apparatus comprising: an imaging unit that successively outputs captured predetermined two-dimensional images where each pixel expresses distance information; a memory unit that stores the two-dimensional images outputted by the imaging unit; a three-dimensional shape model generation unit that generates a three-dimensional shape model based on the predetermined two-dimensional images and stores the generated three-dimensional shape model in the memory unit; a region calculation unit that calculates, based on the two-dimensional images and the three-dimensional shape model stored in the memory unit, a measurement-excluded region, a measurement-completed region and an unmeasured region in the two-dimensional images; a measurement-excluded region calculation unit that calculates the measurement-excluded region by using a depth value of the three-dimensional shape model stored in the memory unit by regarding a portion having a depth value (d(u, v)) smaller than or equal to a depth threshold dmin or larger than or equal to a depth threshold dmax of the three-dimensional shape model stored in the memory unit as a close-range view or a distant view which is excluded from measurement, wherein a group of pixels (p(u, v), q(u, v)) of the two-dimensional images including a captured object and corresponding to the close-range view or the distant view excluded from measurement corresponds to the measurement-excluded region; and a display image generation unit that generates, based on the measurement-excluded region, the measurement-completed region and the unmeasured region, a display image from the two-dimensional images. an imaging unit that successively outputs captured predetermined two-dimensional images where each pixel expresses distance information; a memory unit that stores the two-dimensional images outputted by the imaging unit; a three-dimensional shape model generation unit that generates a three-dimensional shape model based on the predetermined two-dimensional images and stores the generated three-dimensional shape model in the memory unit; a region calculation unit that calculates, based on the two-dimensional images and the three-dimensional shape model stored in the memory unit, a measurement-excluded region, a measurement-completed region and an unmeasured region in the two-dimensional images; a measurement-excluded region calculation unit that calculates the measurement-excluded region by using a depth value of the three-dimensional shape model stored in the memory unit by regarding a portion having a depth value (d(u, v)) smaller than or equal to a depth threshold dmin or larger than or equal to a depth threshold dmax of the three-dimensional shape model stored in the memory unit as a close-range view or a distant view which is excluded from measurement, wherein a group of pixels (p(u, v), q(u, v)) of the two-dimensional images including a captured object and corresponding to the close-range view or the distant view excluded from measurement corresponds to the measurement-excluded region; and a display image generation unit that generates, based on the measurement-excluded region, the measurement-completed region and the unmeasured region, a display image from the two-dimensional images.