Three-dimensional shape measurement system and measurement method for same

To provide a three-dimensional shape measurement system and measurement method capable of shape measurement of the entirety of an object of measurement when only a portion of the shape of the object of measurement can be obtained using distance measurement, a three-dimensional shape measurement system according to the present invention is provided with a distance measurement unit (100) for measuring the distance to a plurality of points on an object of measurement, an imaging unit (101) for acquiring image data by imaging a measurement space including the object of measurement, and a shape reconstruction device (21) for determining a plurality of image data feature points corresponding to each of a plurality image data items imaged from different directions by the imaging unit, determining a provisional relative posture and provisional shape of unknown scale from position information for the image data of the plurality of feature points, and reconstructing the shape of the object of measurement by calculating the three-dimensional coordinates of the provisional relative posture and provisional shape of unknown scale on the basis of the distances to the feature points measured by the distance measurement unit.