An imaging device includes imagers each having an imaging element. An NP point is located downstream of the imaging element, and all NP points are collectively located within a predetermined radius region centered on one of the NP points. A lens closest to the object is cut along a plane not including the optical axis, and a>H is satisfied, where H is a distance from the optical axis to a center portion of an overlapping region with the adjacent imager when the imaging element is scanned from the optical axis toward the optical axis of the adjacent imager, and a is a distance from the optical axis to a position at which an illuminance ratio does not vary even if an aperture stop state is shifted, although the position is located in a region in which the illuminance ratio decreases as the distance from the optical axis increases.