An inspection system comprising: an inspection lighting device configured to irradiate inspection light onto an inspection object; the inspection lighting device comprising a surface light source for emitting an inspection light; a lens being configured to form an irradiation solid angle by using light emitted from the surface light source; and a filtering means disposed between the surface light source and the lens and in front of or behind of a focus position of the lens; the inspection system further comprising an imaging device forming an observation solid angle on the inspection object and configured to image object light reflected, transmitted, or scattered by each point on the inspection object; wherein the filtering means is configured with regions radially arranged around the optical axis of the irradiation solid angle and adjacent to each other in a circumferential direction, such that the light passing through the filtering means is divided into solid angle regions having different optical attributes; wherein a shape and size of the irradiation solid angle of the inspection light is adjustable by changing an aperture of the filtering means; wherein an incline of the irradiation solid angle of the inspection light is adjustable by changing a position of the filtering means relative to the lens; and wherein the imaging device is configured to detect a change in an optical axis of the object light or a change in a solid angle of the object light relative to the observation solid angle that is formed at that point on the inspection object in an inclusive relation with the observation solid angle by selectively imaging different optical attributes of the light reflected, transmitted, or scattered by each point on the inspection object, such that changes in the plurality of optical attributes of the object light, resulting from the plurality of solid angle regions of the inspection light and specifying incline directions and incline angles of inclines in a plurality of directions at each point on the inspection object based on the amounts of the changes in the plurality of optical attributes, result in changes in brightness of observation light having different optical attributes that specify three-dimensional characteristics of a surface of the inspection object. an inspection lighting device configured to irradiate inspection light onto an inspection object; the inspection lighting device comprising a surface light source for emitting an inspection light; a lens being configured to form an irradiation solid angle by using light emitted from the surface light source; and a filtering means disposed between the surface light source and the lens and in front of or behind of a focus position of the lens; the inspection system further comprising an imaging device forming an observation solid angle on the inspection object and configured to image object light reflected, transmitted, or scattered by each point on the inspection object; wherein the filtering means is configured with regions radially arranged around the optical axis of the irradiation solid angle and adjacent to each other in a circumferential direction, such that the light passing through the filtering means is divided into solid angle regions having different optical attributes; wherein a shape and size of the irradiation solid angle of the inspection light is adjustable by changing an aperture of the filtering means; wherein an incline of the irradiation solid angle of the inspection light is adjustable by changing a position of the filtering means relative to the lens; and wherein the imaging device is configured to detect a change in an optical axis of the object light or a change in a solid angle of the object light relative to the observation solid angle that is formed at that point on the inspection object in an inclusive relation with the observation solid angle by selectively imaging different optical attributes of the light reflected, transmitted, or scattered by each point on the inspection object, such that changes in the plurality of optical attributes of the object light, resulting from the plurality of solid angle regions of the inspection light and specifying incline directions and incline angles of inclines in a plurality of directions at each point on the inspection object based on the amounts of the changes in the plurality of optical attributes, result in changes in brightness of observation light having different optical attributes that specify three-dimensional characteristics of a surface of the inspection object.