A stereoscopic imaging device (100) comprises: a first imaging camera (C1) for generating a reference image for calculating a first distance image representing a three-dimensional shape of a subject; a second imaging camera (C2) for generating a comparison image for calculating the first distance image; a stereo matching unit (3) for searching for corresponding pixels between the reference image and the comparison image, calculating the disparity from the corresponding pixels, and generating the first distance image; and a light source (1) for irradiating an intensity-modulated infrared light toward the subject. The first imaging camera (C1) receives, in synchronization with the intensity modulation, a reflected light that is the intensity-modulated infrared light reflected from the subject, and thereby further generates a second distance image including distance information from the reflection point of the subject.