An image processing device for processing image information including light reception value information obtained by imaging an inside of a living body includes: a distance information obtainment unit that obtains, at a bright region in the image information, information on a distance to a surface of the living body on the basis of the light reception value information on light in a first wavelength range, and obtains, at a dark region in the image information, information on a distance to the surface of the living body on the basis of the light reception value information on light in a second wavelength range which is a longer wavelength range than the first wavelength range.