In order to be able to appropriately control whether to generate a wide-angle image in accordance with control of an imaging range of the plurality of imaging units, an imaging device includes: a first imaging unit and a second imaging unit, each of which is movable in a predetermined direction; a combination processing unit configured to combine a first image obtained by the first imaging unit and a second image obtained by the second imaging unit to generate a wide-angle image; a determination unit configured to determine whether or not to generate the wide-angle image by the combination processing unit, based on a relation between an imaging range of the first imaging unit and an imaging range of the second imaging unit, or a position relation between the first imaging unit and the second imaging unit in the predetermined direction.