Three-dimensional measurement apparatus comprises first and second imaging units with baseline length, feature point detector for detecting feature points in image, corresponding point detector for detecting corresponding points corresponding to the feature points, rotation matrix calculator, translation matrix calculator, distance calculator, and data calculator. Based on the feature points and the corresponding points, the rotation matrix calculator calculates a rotation matrix representing direction and amount of rotation of a second image capture position relative to a first image capture position and the translation matrix calculator calculates a translation matrix representing a translation direction of the second image capture position relative to the first image capture position. Based on the rotation matrix, the translation matrix, and the baseline length, the distance calculator calculates a translation distance to the second image capture position relative to the first image capture position. The data calculator calculates three-dimensional data based on the translation distance.