A three-dimensional shape measurement apparatus includes an imaging unit that successively outputs two-dimensional images captured, a memory unit that stores the two-dimensional images outputted by the imaging unit, a three-dimensional shape model generation unit which generates a three-dimensional shape model, based on the two-dimensional images and stores the three-dimensional shape model in the memory unit, a region calculation unit that calculates, based on the two-dimensional images and the three-dimensional shape model stored in the memory unit, a measurement-completed region in the two-dimensional images, and a display image generation unit that generates, based on the measurement-completed region, a display image from the two-dimensional images.