The reliability of detection of the traveling lane can be improved even in a case where an image capturing environment changes. The lane detection device includes a first image capturing device which is fixed to a moving body and periodically captures a first image under a predetermined first image capturing condition, a second image capturing device which is fixed to the moving body and periodically captures a second image under a second image capturing condition different from the predetermined first image capturing condition, and an operation device, regarding a traveling lane on which the moving body travels, which detects a first boundary line of the traveling lane on the first image, detects a second boundary line of the traveling lane on the second image, and estimates the position of the first boundary line on the first image based on a position of the second boundary line on the second image under a predetermined execution condition.