The present disclosure pertains to a range-finding device and a range-finding method whereby control can be easily implemented such that even when a plurality of sensors of different range-finding systems are used in combination, the plurality of sensors can be handled as sensors of a single range-finding system. A bridge processing unit controls, collectively, the operation timings of a plurality of range-finding sensors such as an iToF sensor, a dToF sensor, and a millimeter wave sensor, and the range-finding results of the plurality of range-finding sensors are converted to common information such as a depth map. The present disclosure can be applied to a range-finding device.