To obtain a color signal having a wide dynamic range (i.e., high sensitivity) and color reproducibility similar to human vision characteristics regardless of the amount of the near infrared components contained in light captured by an imaging device. The imaging device is configured to receive light which has transmitted through the filters selectively transmit light having different wavelengths from each other, to generate an output signal RAW0 by converting the received light using the image pickup element 102 having the plurality of pixels, and to remove, by a removal rate E (Rr) determined in accordance with the ratio Rr of near infrared light component calculated for each pixel, the near infrared light component for each pixel from the generated output signal RAW0, to thereby generate an infrared-separated signal (Ra, Ga, Ba).