A three-dimensional position detecting device includes a rotational mechanism configured to rotate about a predetermined rotation axis, and includes a LIDAR unit disposed on the rotation axis to scan in response to each rotation angle at which the rotational mechanism rotate to detect at least one first three-dimensional position of an object. The three-dimensional position detecting device includes an imaging unit disposed to be away from the rotation axis in a direction perpendicular to the rotation axis, the imaging unit being configured to capture multiple images of the object based on rotation of the imaging unit through the rotational mechanism. The three-dimensional position detecting device includes a processor configured to detect a second three-dimensional position of the object based on the captured multiple images with respect to respective rotation angles at which the rotational mechanism rotates.