An image-taking apparatus is disclosed which allows a selection of a type of image stabilization to be used from optical image stabilization and electronic image stabilization as required to provide an excellent output image. The microcomputer comprises a voltage clamp unit including a reference voltage generating circuit and a constant voltage generating circuit. A wheel assembly extends downwardly from the platform to support the platform in a substantially horizontal position off the ground. Then, based on the calculated error signal e, the update of the separation matrix W at that time is performed 23 such that consideration weight is increased when estimation errors are large using the cost function having a monotonously increasing characteristic. Moreover, the component value variations of all the relative sensitivities have the same incremental percentage or decrement. The indication may be provided by changing the color or other display characteristics of the electrode on the navigation system display or by way of providing a waveform indicating the electrode coupling.