In a measurement device, an image acquisition unit acquires a first image generated by imaging an object to be measured in a first imaging state and acquires one or more second images generated by imaging the object in one or more second imaging states. A specified point setting unit sets a specified point on the first image. A three-dimensional (3D) shape restoration unit restores a 3D shape of the object by using a plurality of images including the second image determined to include a point corresponding to the specified point. A reference dimension setting unit sets a reference dimension on the first image or the 3D shape. A measurement unit measures the object on the basis of the 3D shape, the specified point, and the reference dimension.