The information presentation device has an image acquisition unit, a parameter deriving unit, an abnormality detection unit, and the presentation unit. The image acquisition unit acquires a first image which is captured by a first imaging device and a second image which is captured by a second imaging device. The parameter deriving unit derives parameters for deriving three-dimensional coordinates from the first image and the second image. The abnormality detection unit determines presence or absence of an abnormality in a relative positional relationship or a relative relationship of pose between the first imaging device and the second imaging device according to the derived parameters. In a case where an abnormality is determined, the presentation unit presents warning information including an instruction that there is an abnormality.