An imaging device includes a filter unit including filter areas having different wavelength selectivities; a light receiving element array configured to receive light transmitted through the filter unit; a storage unit configured to store, for each filter area, positional information indicating a position at which light transmitted is received on the light receiving element array; an area detector configured to detect, based on the positional information, an image area corresponding to the light transmitted from an image output by the light receiving element array when light from an object enters the filter unit; and a color detector configured to detect a color of the object based on an output value of the image area. The positional information indicates a position on the light receiving element array identified by using a spectral-response-coincidence-degree indicating a degree of coincidence between a spectral responsivity of each pixel and a desired wavelength selectivity.