Three-dimensional shape estimation method, three-dimensional shape estimation system, flying object, program, and recording medium

Provided is a 3D shape estimation method capable of easily improving the estimation accuracy of a 3D shape around an object. A three-dimensional shape estimation method for estimating a three-dimensional shape based on an image captured by a flying object, wherein first three-dimensional shape data in a flight range of the flying object is obtained based on a plurality of first captured images. Generating a defect region based on the first three-dimensional shape data, generating a first flight path for imaging the defect region, and in the first flight path, toward the defect region And acquiring a plurality of second captured images by capturing a plurality of images in the horizontal direction with a part of the imaging range overlapped, and three-dimensional shape data in the defect region based on the plurality of second captured images. Generating.