A system includes: a capsule endoscope configured to be introduced into a subject to generate an image signal, and a control device for generating an image of the subject. The capsule endoscope includes: a first transmitter for sending information indicating a posture of the capsule endoscope； a first receiver for receiving a control signal from the control device； and a changing mechanism for changing the posture of the capsule endoscope based on the control signal. The control device includes: a second receiver for acquiring the information indicating the posture； a detector for detecting the posture of the capsule endoscope based on the information indicating the posture； a calculator for calculating a target posture of the capsule endoscope based on the image； and a signal generator for generating the control signal based on a detection result of the posture of the capsule endoscope and on the target posture.
