An imaging support device that supports imaging of a structure, which is consisted of concrete and/or steel, performed using an imaging device to obtain an image of the structure for inspection, the imaging support device comprising: a drawing information-acquisition unit for acquiring drawing information of the structure; an imaging point specification unit for specifying an imaging point of the structure on the basis of the drawing information; an image quality information-acquisition unit for acquiring image quality information required for a taken image and representing the pixel densitiy (Pr) or the inverse of the pixel density of a taken image; the imaging support device is characterized by an imaging planning unit for generating imaging plan information on the basis of the specified imaging point and the required image quality information, wherein said imaging plan information includes imaging position information representing a scheduled imaging position of the imaging device and imaging range information representing a scheduled imaging range of the imaging device at each imaging of the structure on the basis of the specified imaging point and the image quality information wherein the image range information includes a required matching range (Rf), which satisfies the required pixel density (Pr), of a surface (Sp) of the structure to be imaged, an actual imaging information-acquisition unit for acquiring actual imaging information including actual imaging position information and actual imaging range information of the imaging device at each imaging of the structure; an imaging support information-generation unit for combining the imaging plan information and the actual imaging information with the drawing information and for allowing a display device to display combined information. a drawing information-acquisition unit for acquiring drawing information of the structure; an imaging point specification unit for specifying an imaging point of the structure on the basis of the drawing information; an image quality information-acquisition unit for acquiring image quality information required for a taken image and representing the pixel densitiy (Pr) or the inverse of the pixel density of a taken image; the imaging support device is characterized by an imaging planning unit for generating imaging plan information on the basis of the specified imaging point and the required image quality information, wherein said imaging plan information includes imaging position information representing a scheduled imaging position of the imaging device and imaging range information representing a scheduled imaging range of the imaging device at each imaging of the structure on the basis of the specified imaging point and the image quality information wherein the image range information includes a required matching range (Rf), which satisfies the required pixel density (Pr), of a surface (Sp) of the structure to be imaged, an actual imaging information-acquisition unit for acquiring actual imaging information including actual imaging position information and actual imaging range information of the imaging device at each imaging of the structure; an imaging support information-generation unit for combining the imaging plan information and the actual imaging information with the drawing information and for allowing a display device to display combined information.