An imaging device comprising: a first fisheye lens; a first imaging element corresponding to the first fisheye lens, said first imaging element being adapted to capture a first image; a second fisheye lens; a second imaging element corresponding to the second fisheye lens, said second imaging element being adapted to capture a second image; a control system to control said imaging device to generate an omnidirectional image based on the first image obtained using the first fisheye lens and the second image obtained using the second fisheye lens, the control system comprising an evaluation value calculating unit configured to: calculate a first brightness value of the first image based on pixel values of pixels constituting the first image, calculate, based on the first brightness value, a first exposure evaluation value for evaluating exposure of the first imaging element corresponding to the first fisheye lens, calculate a second brightness value of the second image based on pixel values of pixels constituting the second image, and calculate, based on the second brightness value, a second exposure evaluation value for evaluating exposure of the second imaging element corresponding to the second fisheye lens, wherein the evaluation value calculating unit is configured not to use pixel values of pixels constituting an overlapping area in which there is overlapping of a shooting range of the first image and a shooting range of the second image during calculation of the first brightness value of the first image and during calculation of the second brightness value of the second image. a first fisheye lens; a first imaging element corresponding to the first fisheye lens, said first imaging element being adapted to capture a first image; a second fisheye lens; a second imaging element corresponding to the second fisheye lens, said second imaging element being adapted to capture a second image; a control system to control said imaging device to generate an omnidirectional image based on the first image obtained using the first fisheye lens and the second image obtained using the second fisheye lens, the control system comprising an evaluation value calculating unit configured to: calculate a first brightness value of the first image based on pixel values of pixels constituting the first image, calculate, based on the first brightness value, a first exposure evaluation value for evaluating exposure of the first imaging element corresponding to the first fisheye lens, calculate a second brightness value of the second image based on pixel values of pixels constituting the second image, and calculate, based on the second brightness value, a second exposure evaluation value for evaluating exposure of the second imaging element corresponding to the second fisheye lens, wherein calculate a first brightness value of the first image based on pixel values of pixels constituting the first image, calculate, based on the first brightness value, a first exposure evaluation value for evaluating exposure of the first imaging element corresponding to the first fisheye lens, calculate a second brightness value of the second image based on pixel values of pixels constituting the second image, and calculate, based on the second brightness value, a second exposure evaluation value for evaluating exposure of the second imaging element corresponding to the second fisheye lens, wherein the evaluation value calculating unit is configured not to use pixel values of pixels constituting an overlapping area in which there is overlapping of a shooting range of the first image and a shooting range of the second image during calculation of the first brightness value of the first image and during calculation of the second brightness value of the second image.