An imaging device comprising: a sensor unit configured to irradiate an object with light and detect the light reflected by the object; a distance calculation unit configured to calculate a distance to the object on a basis of sensing data of the sensor unit; a specular reflector located on an opposite side of the sensor unit across the object; said imaging device being characterized by further comprising: a correction unit configured to correct an error included in the calculated distance, the error being caused by an interference between the light following a first path from the sensor unit toward the object and the light following a second path from the sensor unit, wherein the light on the second path is reflected by the specular reflector and goes toward the object, is reflected by the object and reaches the specular reflector again, is again reflected by the specular reflector and received by the sensor unit, and wherein the correction unit corrects the error based on a model for estimating a phase of the light obtained in case of interference, wherein a difference between the phase estimated by the model and an actually measured phase is minimized to estimate a phase not affected by the interference. a sensor unit configured to irradiate an object with light and detect the light reflected by the object; a distance calculation unit configured to calculate a distance to the object on a basis of sensing data of the sensor unit; a specular reflector located on an opposite side of the sensor unit across the object; said imaging device being characterized by further comprising: a correction unit configured to correct an error included in the calculated distance, the error being caused by an interference between the light following a first path from the sensor unit toward the object and the light following a second path from the sensor unit, wherein the light on the second path is reflected by the specular reflector and goes toward the object, is reflected by the object and reaches the specular reflector again, is again reflected by the specular reflector and received by the sensor unit, and wherein the correction unit corrects the error based on a model for estimating a phase of the light obtained in case of interference, wherein a difference between the phase estimated by the model and an actually measured phase is minimized to estimate a phase not affected by the interference. a correction unit configured to correct an error included in the calculated distance, the error being caused by an interference between the light following a first path from the sensor unit toward the object and the light following a second path from the sensor unit, wherein the light on the second path is reflected by the specular reflector and goes toward the object, is reflected by the object and reaches the specular reflector again, is again reflected by the specular reflector and received by the sensor unit, and wherein the correction unit corrects the error based on a model for estimating a phase of the light obtained in case of interference, wherein a difference between the phase estimated by the model and an actually measured phase is minimized to estimate a phase not affected by the interference.