A depth acquisition device capable of accurately acquiring a depth of an image is provided. A depth acquisition device (1) includes a memory (200) and a processor (110). The processor (110) performs: acquiring timing information indicating a timing at which a light source irradiates a subject with infrared light; acquiring an infrared light image stored in the memory (200), the infrared light image being generated by imaging a scene including the subject with the infrared light according to the timing indicated by the timing information; acquiring a visible light image stored in the memory (200), the visible light image being generated by imaging a substantially same scene as that of the infrared light image, with visible light from a substantially same viewpoint and at a substantially same imaging time of those of the infrared light image; detecting a dust region showing dust from the infrared light image; and estimating a depth of the dust region based on the infrared light image, the visible light image, and the dust region.