An imaging device includes: an image sensor that images an object to be imaged through polarizing plates arranged to have a different polarization direction for each pixel in a pixel group that includes a plurality of pixels corresponding to each of points of the object to be imaged; a pixel selecting unit that selects a pixel having a lowest brightness for each of the pixel group corresponding to each of the points; and an image output unit that outputs a captured image of the object to be imaged that is generated from pixels selected by the pixel selecting unit.