A distance measuring device is configured to: obtain a first distance image acquired from a time of flight (TOF) sensor and a polarized image generated by calculating a degree of polarization for each pixel based on a plurality of images acquired from a plurality of cameras that receives linearly polarized light with different polarization directions; and execute a process for calculating reliability according to a difference between a time of measuring a distance and a time of photographing the plurality of images for each pixel of the first distance image, and execute a process for calculating a distance from the TOF sensor to a subject for each pixel using a second distance image calculated by weighting the reliability to a distance of each pixel of the first distance image, and a third distance image calculated by estimating a distance of each pixel based on the polarized image.