A lens driving device according to an embodiment comprises: a bobbin wherein at least one lens is installed inside thereof and a first coil is installed on the outer circumferential surface thereof; a first magnet arranged around the bobbin so as to be opposite to the first coil; a housing for supporting the first magnet; upper and lower elastic members coupled with the bobbin and the housing; a first sensor for sensing displacement of the bobbin in the first direction; a second magnet arranged so as to be opposite to the first sensor; a base arranged to be spaced apart from the housing by a certain distance; a second coil arranged so as to be opposite to the first magnet; a circuit board whereon the second coil is installed; a plurality of support members for supporting the housing so as to be movable in the second and third directions which are orthogonal to the first direction with respect to the base and for connecting at least one of the upper and lower elastic members to the circuit board; and a second sensor for sensing displacement of the housing in the second or third direction with respect to the base.