An endoscopic form detection device comprising: an endoscope including an inserting section in which sensor units (S i) are arranged in longitudinal directions at intervals of a predetermined inter-sensor dimension; a posture detecting section configured to detect a posture of each of the sensor units (Si) based on measurement data in the sensor unit (S i); a sensor tentative position detecting section configured to detect a tentative position (P 0, i) of each sensor unit (S i) on the assumption that a portion between the respective sensor units (S i) is a linear tentative link (T 0, j) whose dimension is equal to the inter-sensor dimension based on the posture of each sensor unit (S i) detected by the posture detecting section, characterized in that the device further comprises a tentative curve form detecting section configured to perform curve interpolation between the tentative positions (P 0, i) of the respective sensor units (S i) by using a tentative arc (L 0, j) to detect a tentative curve form of the inserting section based on the tentative positions (P 0, i) of the respective sensor units (S i) detected by the sensor tentative position detecting section; a sensor position correcting section configured to correct a position of each sensor unit (S i) from the tentative position (P 0, i) to a final position (P F, i) based on an absolute value of a difference between an arc length (R 0, j φ 0, j) of each tentative arc (L 0, j) of the tentative curve form detected by the tentative curve form detecting section and the inter-sensor dimension; and a final curve form detecting section configured to perform curve interpolation between the final positions (P F, i) of the respective sensor units (S i) by using a final arc (L F, j) to detect a final curve form of the inserting section. an endoscope including an inserting section in which sensor units (S i) are arranged in longitudinal directions at intervals of a predetermined inter-sensor dimension; a posture detecting section configured to detect a posture of each of the sensor units (Si) based on measurement data in the sensor unit (S i); a sensor tentative position detecting section configured to detect a tentative position (P 0, i) of each sensor unit (S i) on the assumption that a portion between the respective sensor units (S i) is a linear tentative link (T 0, j) whose dimension is equal to the inter-sensor dimension based on the posture of each sensor unit (S i) detected by the posture detecting section, characterized in that the device further comprises a tentative curve form detecting section configured to perform curve interpolation between the tentative positions (P 0, i) of the respective sensor units (S i) by using a tentative arc (L 0, j) to detect a tentative curve form of the inserting section based on the tentative positions (P 0, i) of the respective sensor units (S i) detected by the sensor tentative position detecting section; a sensor position correcting section configured to correct a position of each sensor unit (S i) from the tentative position (P 0, i) to a final position (P F, i) based on an absolute value of a difference between an arc length (R 0, j φ 0, j) of each tentative arc (L 0, j) of the tentative curve form detected by the tentative curve form detecting section and the inter-sensor dimension; and a final curve form detecting section configured to perform curve interpolation between the final positions (P F, i) of the respective sensor units (S i) by using a final arc (L F, j) to detect a final curve form of the inserting section.