A wearable camera that is an imaging device includes a sensing unit that senses motion of a camera, and a prediction unit that calculates a pixel shift distance (d) between frames based on the results of the sensing. The prediction unit obtains a position (p1′) by moving a feature point (p1) extracted from the previous frame image by the pixel shift distance (d), and the setting unit sets a window (w4) having a position (p1′) as the center in the current frame image (Ft+1). A search unit searches the window (w4) and detects a feature point (q1) corresponding to the feature point (p1).