An imaging system comprising: a first imaging apparatus including a first imaging element in which a plurality of imaging pixels are arranged in a matrix and a first optical system that forms an image of a predetermined first region on an imaging surface of the first imaging element ; a second imaging apparatus including a second imaging element and a second optical system that forms an image of a second region on an imaging surface of the second imaging element , the second region partially overlapping the first predetermined region ; and a generator that generates a combined image based on image data acquired from the first imaging element and the second imaging element , wherein the first optical system includes a first free-form surface lens that has a shape that causes the image of the first predetermined region to be formed on the imaging surface of the first imaging element such that a resolution is different between an overlapping portion of the first predetermined region that overlaps the second region and another portion of the first predetermined region , and in the first predetermined region , the overlapping portion with the second region is a high-resolution portion of the first region having a resolution higher than a resolution of the other portion of the first predetermined region , the second optical system includes a second free-form surface lens that has a shape that causes an image of the second region on the second imaging element such that, in the second region , an overlapping portion with the first predetermined region has a resolution lower than another portion of the second region that does not overlap with the first region and is a high-resolution non-overlapping portion of the second region, and the generator combines image data of the high-resolution overlapping portion of the first region with image data of the high-resolution non-overlapping portion of the second region to generate a combined image. a first imaging apparatus including a first imaging element in which a plurality of imaging pixels are arranged in a matrix and a first optical system that forms an image of a predetermined first region on an imaging surface of the first imaging element ; a second imaging apparatus including a second imaging element and a second optical system that forms an image of a second region on an imaging surface of the second imaging element , the second region partially overlapping the first predetermined region ; and a generator that generates a combined image based on image data acquired from the first imaging element and the second imaging element , wherein the first optical system includes a first free-form surface lens that has a shape that causes the image of the first predetermined region to be formed on the imaging surface of the first imaging element such that a resolution is different between an overlapping portion of the first predetermined region that overlaps the second region and another portion of the first predetermined region , and in the first predetermined region , the overlapping portion with the second region is a high-resolution portion of the first region having a resolution higher than a resolution of the other portion of the first predetermined region , the second optical system includes a second free-form surface lens that has a shape that causes an image of the second region on the second imaging element such that, in the second region , an overlapping portion with the first predetermined region has a resolution lower than another portion of the second region that does not overlap with the first region and is a high-resolution non-overlapping portion of the second region, and the generator combines image data of the high-resolution overlapping portion of the first region with image data of the high-resolution non-overlapping portion of the second region to generate a combined image. <EOS>