An imaging system includes an imaging device performing imaging in a first imaging state and a second imaging state of different optical axes, an attitude detector that detects an attitude change amount of the mobile object, an optical axis changing assembly that changes, while the mobile object is moving in a first direction, an optical axis of the imaging device from a state of a first optical axis at a time when the imaging device performs imaging in the first imaging state to a state of a second optical axis inclined in a second direction intersecting the first direction at a time of imaging in the second imaging state, and a controller that sets an optical axis change amount by which the optical axis changing assembly changes the optical axis of the imaging device, based on the attitude change amount.