Provided is an image processing device for improving quality of an image generated using an image obtained when infrared light is radiated and an image obtained when infrared light is not radiated. A modulation coefficient setting unit sets a first modulation coefficient used for correction of infrared luminance information of an infrared image obtained when infrared light is radiated. The first modulation coefficient is set on the basis of a ratio between the infrared luminance information and visible luminance information of a visible image obtained when the infrared light is not radiated. A modulation coefficient correcting unit corrects the first modulation coefficient to a second modulation coefficient on the basis of a parameter indicating brightness of a subject of the visible image or brightness of a photographing environment. A luminance correcting unit corrects the infrared luminance information using the second modulation coefficient.