A lighting unit illuminates an object with at least one type of excitation light and illumination light. An imaging unit captures images with at least one type of fluorescent light generated by the object illuminated with the excitation light, and with reflected light caused when the object reflects the illumination light. A fluorescent light detector generates a delay time distribution image of fluorescent light from a fluorescent light image captured by the imaging unit. A distance measuring unit generates a range image from a reflected light image captured by the imaging unit.