To expand a range capable of accurately detecting a subject distance.
An imaging device 1 includes imaging parts 11 and 21 that have parallax, and obtains first and second input images taken by the imaging parts 11 and 21. A first distance detection part 51 detects distance by a stereovision method, from the first and second input images that are taken simultaneously, and outputs a first distance detection result. A second distance detection part 52 detects distance by a detection method different from the distance detection method used in the first distance detection part, and outputs a second distance detection result. For example, the second distance detection part 52 detects the distance using a method of SFM (Structure From Motion) capable of detecting the distance even for a close subject. An integration part 53 integrates the first and second distance detection results to generate output distance information.
FUKUMOTO SHINPEI
Inoue On
Masanori Yamamoto