High-quality three-dimensional images are picked up with the proper parallax magnitude and minimal chromatic aberration. Light from an imaging subject is split to the left and right by mirrors (141 and 143) in the range where the light diffused from the single point of the subject is parallel light. Light seen from the right facing the subject is reflected by the mirror (141) and then reflected by another mirror (142). Light seen from the left facing the subject is reflected by the mirror (143) and then reflected by another mirror (144). The right-side light reflected by the mirror (142) enters an imaging lens (151). The light incident to the imaging lens (151) forms an image on the light-receiving surface of an image pickup element (171). The left-side light reflected by the mirror (144) enters an imaging lens (152). The light incident to the imaging lens (152) forms an image on the light-receiving surface of an image pickup element (172). Thus, high-quality three-dimensional images are picked up with the proper parallax magnitude and minimal chromatic aberration.