An imaging system mounted on a vehicle is proposed. The imaging system includes: an imager configured to capture an image of the outside of a vehicle through a glass of the vehicle; a heater configured to heat at least an imaging region of a windshield included in an imaging range of the imager; an image processer configured to detect a fogging level of an image captured by the imager; and a controller configured to adjust the output of the heater based on a detected fogging level and allow the heater to heat the imaging region of the windshield.