[Problem] To more precisely acquire distance information relating to biological tissue with an endoscope regardless of the diameter of the endoscope. [Solution] This imaging device is provided with: a distance measuring light source unit which emits distance measuring light for distance measurement at a predetermined timing； an imaging element in which an image of an object to be imaged is formed； a distance measuring light imaging element in which an image of return light of the distance measuring light from the object is formed； a branch optical system for coaxially branching incident light into mutually different three optical paths； and a distance information calculation unit for calculating distance information relating to the object on the basis of a detection result of the return light. The branch optical system uses: a first light path among the three light paths as a light path for guiding the distance measuring light, which is controlled to illuminate a point on the object, to the object； a second light path as a light path for allowing formation of an image of the object in the imaging element； and a third light path as a light path for allowing the return light to form an image of the object in the distance measurement imaging element. The distance information calculation unit calculates a stand-off distance to the object by a time-of-flight method on the basis of the detection result of the return light.[Problème] Acquérir de manière plus précise des informations de distance relatives à un tissu biologique à l'aide d'un endoscope, indépendamment du diamètre de l'endoscope. [Solution] Le dispositif d'imagerie de l'invention comprend: une unité source de lumière de mesure de distance qui émet une lumière de mesure de distance pour mesurer une distance en un moment prédéterminé； un élément d'imagerie dans lequel est formée une image d'un objet à mettre en image； un élément d'imagerie avec lumière de mesure de distance dans lequel est formée une image de lu
