To provide a device for detecting a three-dimensional relative movement.

This device 50 for detecting the three-dimensional relative movement includes a movable motion sensor 300 or 400 including two-dimensional arrays of first and second light detectors. At least one lens 406A, 406B turns a far distance image to the arrays of the first and second light detectors. The sensor is constituted so as to generate the digital expression of the far distance image and generate a three-dimensional relative movement data on the basis of the digital expression. The three-dimensional relative movement data shows the three-dimensional movement of the sensor.