An imaging device according to an aspect of the invention includes an imaging optical system (12) having a wide-angle optical system and a telephoto optical system which are provided in different regions, a directional sensor (17) that has a plurality of pixels including photoelectric conversion elements which are two-dimensionally arranged, pupil-divides light beams which are incident through the wide-angle optical system and the telephoto optical system, and selectively receives the beams, a pan/tilt mechanism (32) that moves a direction of an imaging optical axis of the telephoto optical system with respect to a direction of an imaging optical axis of the wide-angle optical system, and an image acquisition unit (22) that acquires a wide-angle image received from the directional sensor (17) through the wide-angle optical system and a telephoto image received from the directional sensor (17) through the telephoto optical system.