The imaging device includes: a first optical system; a second optical system; a first imaging element configured to convert an optical image of a first shooting range formed by the first optical system into an electrical signal; a second imaging element configured to convert an optical image of a second shooting range formed by the second optical system into an electrical signal; a first focus driving section configured to shift a focus lens of the first optical system to a focus position of a first object in the first shooting range; and a movement prediction section configured to predict movement of an image of a second object in the second shooting range. The first focus driving section shifts the focus lens of the first optical system to a position different from the focus position of the first object, according to a result of the prediction of the movement prediction section.