A three-dimensional image capturing device has a center LED and peripheral LEDs which are arranged around the center LED. The center LED and peripheral LEDs irradiate distance measuring light beams to a measurement subject. The distance measurement light beams are reflected by a surface of the measurement subject, and the reflected light beams are received by an imaging device, so that distances from the imaging device to the measurement subject are sensed in accordance with the received light amount. The irradiation timings of the center LED and the peripheral LEDs are adjusted, in such a manner that, when the measurement subject is a flat plane parallel to the light receiving surface of the imaging device, the reflected light beams from all of the LEDs are simultaneously received by the imaging device.