A three-dimensional shape data recording/display method including: a data inputting step S1 for inputting into a computer coordinate values on a three-dimensional shape; a model structuring step S3 for structuring an environment model for partitioning a spatial region into a plurality of voxels made from rectangular solids, of which the boundary surfaces are mutually perpendicular, and stores the positions of the individual voxels; a matching step S4 for setting and recording a representative point and an error distribution within the voxel corresponding to the coordinate value; a model updating step S5 for updating the environment model; and an outputting step S6 for outputting, to an outputting device, at least one of the voxel position, representative point, and error distribution.