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 (101) irradiates a subject with infrared light; acquiring, from the memory (200), an infrared light image generated by imaging a scene including the subject with the infrared light according to the timing indicated by the timing information; acquiring, from the memory (200), a visible light image generated by imaging a substantially same scene as the scene of the infrared light image, with visible light from a substantially same viewpoint as a viewpoint of imaging the infrared light image at a substantially same time as a time of imaging the infrared light image; detecting a flare region from the infrared light image; and estimating a depth of the flare region based on the infrared light image, the visible light image, and the flare region.