Provided is an imaging device, an image processing method, and an image processing system which obtains a sensing image and a viewing image by one imaging element. The imaging device includes a control unit that controls irradiation with invisible light, an imaging element that includes a first pixel that is capable of detecting the invisible light, and a second pixel that is capable of detecting visible light. The imaging device further includes an image generation unit that generates a first image including the invisible light component and a second image including a visible light component on the basis of a first pixel signal transmitted from the first pixel and a second pixel signal transmitted from the second pixel.