1. An endoscopic image processing device comprising: an endoscope provided with imaging means; position detection means for detecting the position of the same point on each of a plurality of images of the same object formed by said imaging means at a plurality of imaging positions; position estimating means for estimating each position of said object and said imaging means from a shift amount of the position of the same point on each of the images and a rotation matrix and a translation vector calculated using the shift amount; shape estimating means for estimating a three-dimensional shape of said object using the positional information of said object and said imaging means which is estimated by said position estimating means; and display means for displaying the three-dimensional shape estimated by said shape estimating means.