A three-dimensional shape measurement apparatus comprising: an imaging unit that successively outputs captured predetermined two-dimensional images (I) 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 (G) based on the predetermined two-dimensional images (I) and stores the generated three-dimensional shape model (G) in the memory unit ; a region calculation unit that calculates, based on the two-dimensional images (I) and the three-dimensional shape model (G) stored in the memory unit , a measurement-excluded region (R2), a measurement-completed (R1) region and an unmeasured region (R3) in the two-dimensional images (I); a measurement-excluded region calculation unit that calculates the measurement-excluded region (R2) by using a depth value of the three-dimensional shape model (G) 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 (G) 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 (I) including a captured object and corresponding to the close-range view or the distant view excluded from measurement corresponds to the measurement-excluded region (R2); and a display image generation unit that generates, based on the measurement-excluded region (R2), the measurement-completed region (R1) and the unmeasured region (R3), a display image (V) from the two-dimensional images (I). an imaging unit that successively outputs captured predetermined two-dimensional images (I) 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 (G) based on the predetermined two-dimensional images (I) and stores the generated three-dimensional shape model (G) in the memory unit ; a region calculation unit that calculates, based on the two-dimensional images (I) and the three-dimensional shape model (G) stored in the memory unit , a measurement-excluded region (R2), a measurement-completed (R1) region and an unmeasured region (R3) in the two-dimensional images (I); a measurement-excluded region calculation unit that calculates the measurement-excluded region (R2) by using a depth value of the three-dimensional shape model (G) 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 (G) 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 (I) including a captured object and corresponding to the close-range view or the distant view excluded from measurement corresponds to the measurement-excluded region (R2); and a display image generation unit that generates, based on the measurement-excluded region (R2), the measurement-completed region (R1) and the unmeasured region (R3), a display image (V) from the two-dimensional images (I). <EOS>