An imaging distance estimation device (3) pertaining to the present disclosure comprises: an input unit (31) that receives input of image data generated by an imaging device (1); a texture region extraction unit (32) that extracts a prescribed texture region from an image indicated by the image data; a feature value calculation unit (33) that calculates a feature value of the texture region; a feature value information storage unit (35) in which feature value information in which a distance and a value relating to the feature value are associated and stored in advance; and an imaging distance estimation unit (36) that calculates a value relating to the feature value, and estimates the imaging distance from the imaging device (1) to the surface of an object corresponding to the texture region as the distance stored in the feature value information storage unit (33), in accordance with the value relating to the feature value.