[Object] To generate a color image with further improved image quality. [Solution] Provided is an image processing device including: an image acquisition unit that acquires a far-infrared image, a near-infrared image, and a visible light image in which a common imaged object is captured; and a generation unit that generates a color image by filtering filter taps including pixels of the far-infrared image, the near-infrared image, and the visible light image.