An imaging device, comprising: a plurality of optical systems (20, 30) each forming an image of a subject; a plurality of imaging sensors (40, 50) corresponding to the respective plurality of optical systems (20, 30); and a housing part that houses the plurality of optical systems (20, 30) and the plurality of imaging sensors (40, 50), the housing part having a peripheral surface along a circumferential direction about a reference axis, wherein: at least two of the plurality of optical systems (20, 30) each have: a peripheral lens (L1-1, L1-2, L1-3) arranged along the peripheral surface and located closest to an object; and a first optical path (OP1-1. OP1-2. OP1-3), the first optical paths of the at least two optical systems intersecting each other; and each of the peripheral lenses has a longitudinal direction and a short direction, the peripheral lens being arranged along the peripheral surface such that the longitudinal direction extends along the reference axis; the peripheral lenses (L1-1, L1-2, L1-3) and imaging sensors corresponding to the respective peripheral lenses are arranged along the circumferential direction in an alternating manner; from among the plurality of imaging sensors (40, 50), imaging sensors that correspond to the respective optical systems having the first optical paths (OP1-1. OP1-2. OP1-3) have an angle of view in a direction along the reference axis that is greater than an angle of view in the circumferential direction; from among the plurality of imaging sensors (40, 50), the imaging sensors that correspond to the respective optical systems having the first optical paths are arranged in the housing part such that a longitudinal direction of an effective pixel region extends along the reference axis; the housing part has an end surface intersecting the reference axis; and one of the plurality of optical systems (20, 30) has: an end surface lens (L1-0) arranged so as to correspond to the end surface and located closest to an object; and a second optical path that intersects the first optical paths. a plurality of optical systems (20, 30) each forming an image of a subject; a plurality of imaging sensors (40, 50) corresponding to the respective plurality of optical systems (20, 30); and a housing part that houses the plurality of optical systems (20, 30) and the plurality of imaging sensors (40, 50), the housing part having a peripheral surface along a circumferential direction about a reference axis, wherein: at least two of the plurality of optical systems (20, 30) each have: a peripheral lens (L1-1, L1-2, L1-3) arranged along the peripheral surface and located closest to an object; and a first optical path (OP1-1. OP1-2. OP1-3), the first optical paths of the at least two optical systems intersecting each other; and each of the peripheral lenses has a longitudinal direction and a short direction, the peripheral lens being arranged along the peripheral surface such that the longitudinal direction extends along the reference axis; the peripheral lenses (L1-1, L1-2, L1-3) and imaging sensors corresponding to the respective peripheral lenses are arranged along the circumferential direction in an alternating manner; from among the plurality of imaging sensors (40, 50), imaging sensors that correspond to the respective optical systems having the first optical paths (OP1-1. OP1-2. OP1-3) have an angle of view in a direction along the reference axis that is greater than an angle of view in the circumferential direction; from among the plurality of imaging sensors (40, 50), the imaging sensors that correspond to the respective optical systems having the first optical paths are arranged in the housing part such that a longitudinal direction of an effective pixel region extends along the reference axis; the housing part has an end surface intersecting the reference axis; and one of the plurality of optical systems (20, 30) has: an end surface lens (L1-0) arranged so as to correspond to the end surface and located closest to an object; and a second optical path that intersects the first optical paths. at least two of the plurality of optical systems (20, 30) each have: a peripheral lens (L1-1, L1-2, L1-3) arranged along the peripheral surface and located closest to an object; and a first optical path (OP1-1. OP1-2. OP1-3), the first optical paths of the at least two optical systems intersecting each other; and each of the peripheral lenses has a longitudinal direction and a short direction, the peripheral lens being arranged along the peripheral surface such that the longitudinal direction extends along the reference axis; the peripheral lenses (L1-1, L1-2, L1-3) and imaging sensors corresponding to the respective peripheral lenses are arranged along the circumferential direction in an alternating manner; from among the plurality of imaging sensors (40, 50), imaging sensors that correspond to the respective optical systems having the first optical paths (OP1-1. OP1-2. OP1-3) have an angle of view in a direction along the reference axis that is greater than an angle of view in the circumferential direction; from among the plurality of imaging sensors (40, 50), the imaging sensors that correspond to the respective optical systems having the first optical paths are arranged in the housing part such that a longitudinal direction of an effective pixel region extends along the reference axis; the housing part has an end surface intersecting the reference axis; and one of the plurality of optical systems (20, 30) has: an end surface lens (L1-0) arranged so as to correspond to the end surface and located closest to an object; and a second optical path that intersects the first optical paths.