A depth acquisition device, comprising: a memory; and a processor, wherein the processor is configured to perform: acquiring intensities of infrared light which are stored in the memory, the intensities being measured by imaging performed by receiving the infrared light reflected on a subject by respective pixels in an imaging element, the infrared light having been emitted from a light source; generating a depth image, by calculating a distance to the subject as a depth for each of the respective pixels in the imaging element, based on an intensity received by the pixel among the intensities of the infrared light; acquiring a visible light image stored in the memory, the visible light image being generated by imaging a substantially same scene as a scene of an infrared light image, with visible light from a substantially same viewpoint as a viewpoint of imaging the infrared light image at a substantially same timing as a timing of imaging the infrared light image, the infrared light image being generated by the imaging based on the intensities of the infrared light received by the respective pixels in the imaging element; characterized in that, the processor is further configured to perform:- detecting a lower reflection region showing an object in the infrared light image in accordance with the infrared light image and the visible light image, the object having a low reflectivity to the infrared light among the subject; correcting the lower reflection region in the depth image, the lower reflection region in the depth image corresponding to the lower reflection region in the infrared light image; and outputting the depth image with the lower reflection region corrected. a memory; and a processor, wherein the processor is configured to perform: acquiring intensities of infrared light which are stored in the memory, the intensities being measured by imaging performed by receiving the infrared light reflected on a subject by respective pixels in an imaging element, the infrared light having been emitted from a light source; generating a depth image, by calculating a distance to the subject as a depth for each of the respective pixels in the imaging element, based on an intensity received by the pixel among the intensities of the infrared light; acquiring a visible light image stored in the memory, the visible light image being generated by imaging a substantially same scene as a scene of an infrared light image, with visible light from a substantially same viewpoint as a viewpoint of imaging the infrared light image at a substantially same timing as a timing of imaging the infrared light image, the infrared light image being generated by the imaging based on the intensities of the infrared light received by the respective pixels in the imaging element; acquiring intensities of infrared light which are stored in the memory, the intensities being measured by imaging performed by receiving the infrared light reflected on a subject by respective pixels in an imaging element, the infrared light having been emitted from a light source; generating a depth image, by calculating a distance to the subject as a depth for each of the respective pixels in the imaging element, based on an intensity received by the pixel among the intensities of the infrared light; acquiring a visible light image stored in the memory, the visible light image being generated by imaging a substantially same scene as a scene of an infrared light image, with visible light from a substantially same viewpoint as a viewpoint of imaging the infrared light image at a substantially same timing as a timing of imaging the infrared light image, the infrared light image being generated by the imaging based on the intensities of the infrared light received by the respective pixels in the imaging element; detecting a lower reflection region showing an object in the infrared light image in accordance with the infrared light image and the visible light image, the object having a low reflectivity to the infrared light among the subject; correcting the lower reflection region in the depth image, the lower reflection region in the depth image corresponding to the lower reflection region in the infrared light image; and outputting the depth image with the lower reflection region corrected.