JP3424063B2 - Image motion compensation device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image motion correction device used for image stabilization of an image pickup device.

[0002]

2. Description of the Related Art In recent years, the size and weight of image pickup devices such as consumer video cameras called video movies have been reduced, and the magnification of optical zoom has been increased, resulting in a marked improvement in usability. For general consumers, such video movies have become one of ordinary household appliances. However, on the other hand, for consumers who are unfamiliar with shooting using such a video movie, there was a problem that the shooting screen became unstable due to so-called camera shake during shooting. Therefore, in order to solve this problem, many video movies equipped with an image motion correction device are now developed and commercialized.

As an image motion correction device in an image pickup device such as a video movie, for example, an image pickup unit having an image pickup optical system and a solid-state image pickup device is supported by a gimbal mechanism, and this image pickup unit is obtained from an angular velocity sensor. The method of correcting the movement of an image by controlling the drive based on the movement information of the image pickup device itself is "Development of image blur prevention technology for video camera", Television Society Technical Report Vol. 11, No. 28, pp 19-24 (198)
Proposed in 7).

According to the method proposed above, the image pickup unit of the image pickup device is rotatably supported by the gimbal mechanism at the center of gravity thereof, and the pitching and yawing motion information of the image pickup device obtained from the angular velocity sensor is obtained. Based on the above, by performing attitude control of this imaging unit by an actuator composed of a coil and a magnet,
It stabilizes the captured image.

As another example, a system in which a variable apex angle prism is provided in the front part of an image pickup optical system, and the movement of the image is corrected by driving and controlling the variable apex angle prism in accordance with information from an angular velocity sensor is also called "optical type". Image Stabilization System "Technical Report of Television Society Vol. 17, No. 5, pp1
5-20 (1993).

According to the above method, two glass plates are connected to each other with a bellows made of a special film, and the glass plates are filled with a liquid having a high refractive index to form a variable apex angle prism. This variable apex angle prism is provided in front of the solid-state image pickup element, and the variable apex angle prism is constructed based on the information of the movement of the image pickup device in two directions of pitching and yawing obtained from the angular velocity sensor. By tilting the glass plates horizontally and vertically, the optical axis of the incident light is bent to stabilize the movement of the captured image.

Further, as another example, a frame for reading out only a part of the image on the solid-state image sensor as an output image is provided, and this frame is moved by changing the drive timing of the solid-state image sensor. There is a method for correcting the movement of the image.

The above system uses a solid-state image pickup device having a larger number of pixels than a standard solid-state image pickup device conforming to the broadcasting system, and the movement of the image pickup device in two directions of pitching and yawing obtained from an angular velocity sensor. The information is converted into the amount of movement of the image on the solid-state image sensor based on the focal length of the photographing lens, the drive timing of the solid-state image sensor is controlled based on the conversion result, and the solid-state image sensor is moved according to the movement of the photographed image. By changing the read position (frame) of the image from, the movement of the captured image is stabilized.

[0009]

As described above, it is well known that various methods have been proposed and put into practical use for the image motion correction apparatus, but they still have some problems. It is left. One of them is
One of the reasons is that it is difficult to separate and distinguish a mere camera shake that does not depend on the photographer's intention from an intentional camera operation of the photographer. For this reason, even if the photographer performs a panning operation or a tilting operation, which is an intentional operation of the camera, the motion compensation function corrects this movement in the same manner as a normal camera shake. Contrary to that, there is a problem that it becomes unsightly. In particular, in a video movie equipped with a zoom lens with a variable zoom ratio, the amount of movement of the captured image on the screen when panning or tilting increases with the zoom ratio. If the motion correction is erroneously performed during panning or tilting as described above, the uncomfortableness of the captured image is further increased. Therefore, the resolution of the above problems is required more and more in a video movie in which the zoom ratio has recently been increased.

Therefore, the present invention has been made to solve the above-mentioned problems, and limits the motion correction performance when panning or tilting is performed, and further corrects the correction performance especially when the zoom magnification is high. The image motion correction apparatus is capable of performing panning or tilting as intended by the photographer without performing motion compensation for the movement of the image due to the above-mentioned operation intentionally performed by the photographer. Is intended to provide.

[0011]

In order to solve this problem, the present invention provides a motion detecting means for detecting a motion of an image pickup device and an image pickup optical system having one or a plurality of lenses and having a variable focal length. A focal length detecting means for detecting the focal length of the image pickup optical system, a motion correcting means for correcting the movement of the captured image caused by the movement of the image pickup device, and a panning or chilling operation from the output of the movement detecting means. It has a pan and tilt determining means for determining a coating, and a control signal generating means for generating a signal for controlling the motion compensation unit based on an output of said motion detecting means, said control signal generator
Means is a low frequency component included in the output of the motion detection means.
Has a high-pass filter that removes
Based on both the discrimination result by another means and the focal length
Changing the cutoff frequency of the high pass filter
And changing the response characteristic of the control signal generating means.

[0012]

Further, according to the present invention, a motion detecting means for detecting a motion of the image pickup apparatus, an image pickup optical system including one or a plurality of lenses and having a variable focal length, and a focal length of the image pickup optical system are detected. Focal length detecting means, motion correcting means for correcting the movement of the captured image caused by the movement of the image pickup device, pan-tilt determining means for determining panning or tilting from the output of the motion detecting means, and the movement Control signal generating means for generating a signal for controlling the motion correcting means on the basis of the output of the detecting means, and the control signal generating means has integrating means for integrating the output of the motion detecting means. However, the response characteristic of the control signal generating means can be changed by changing the time constant of the integration based on both the discrimination result by the pan / tilt discrimination means and the focal length. And butterflies.

Further, according to the present invention, a motion detecting means for detecting a motion of the image pickup apparatus, an image pickup optical system composed of one or a plurality of lenses and having a variable focal length, and a focal length of the image pickup optical system are detected. Focal length detecting means, motion correcting means for correcting the movement of the captured image caused by the movement of the image pickup device, pan-tilt determining means for determining panning or tilting from the output of the motion detecting means, and the movement Control signal generating means for generating a signal for controlling the motion compensating means based on the output of the detecting means, the control signal generating means controlling the motion compensating means generated therein. A gain adjusting unit that adjusts the gain of the signal is provided, and the gain of the control signal is changed based on both the determination result by the pan-tilt determining unit and the focal length. And wherein the changing the response characteristics of the serial control signal generating means.

Further, according to the present invention, a motion detecting means for detecting a motion of the image pickup apparatus, an image pickup optical system composed of one or a plurality of lenses and having a variable focal length, and a focal length of the image pickup optical system are detected. Focal length detecting means, motion correcting means for correcting the movement of the captured image caused by the movement of the image pickup device, pan-tilt determining means for determining panning or tilting from the output of the motion detecting means, and the movement Control signal generating means for generating a signal for controlling the motion correcting means based on the output of the detecting means, the control signal generating means being a signal for controlling the motion correcting means generated therein. Generating a control signal by changing the signal width based on both the discrimination result by the pan / tilt discrimination means and the focal length. And wherein the changing the response characteristics of the stage.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention is a motion detecting means for detecting the motion of an image pickup device, and an image pickup optical system having one or a plurality of lenses and a variable focal length. A focal length detecting means for detecting a focal length of the image pickup optical system, a motion correcting means for correcting a movement of a photographed image caused by a movement of an image pickup apparatus, and a panning or tilting operation from an output of the movement detecting means. Pan / tilt determining means for determining, and control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, and the control signal generating means,
Removes low frequency components contained in the output of the motion detecting means.
Has a high-pass filter that
Based on both the discrimination result by the
By changing the cut-off frequency of the pass filter, the response characteristic of the control signal generating means is changed, whereby motion compensation is performed for image movement due to panning or tilting intentionally performed by the photographer. Therefore, there is an effect that panning or tilting photography as intended by the photographer can be realized.

[0017]

According to a third aspect of the present invention, there is provided a motion detecting means for detecting a motion of the image pickup device, and an image pickup optical system having one or a plurality of lenses and having a variable focal length.
A focal length detecting unit that detects a focal length of the image pickup optical system, a motion correcting unit that corrects a movement of a captured image caused by a movement of an image pickup apparatus, and a panning or a tilting is discriminated from an output of the movement detecting unit. And a control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means. The control signal generating means outputs the output of the motion detecting means. Integrating means for integrating, by changing the time constant of the integration based on both the discrimination result by the pan-tilt discrimination means and the focal length, to change the response characteristics of the control signal generating means, As a result, motion compensation is not performed for image movement caused by panning or tilting intentionally performed by the photographer,
Therefore, there is an effect that the panning or tilting photography can be realized as intended by the photographer.

According to a fifth aspect of the present invention, there is provided a motion detecting means for detecting a motion of the image pickup apparatus, an image pickup optical system having one or a plurality of lenses and having a variable focal length,
Focal length detection means for detecting the focal length of the image pickup optical system, motion correction means for correcting the movement of the captured image caused by movement of the image pickup device, and panning or tilting from the output of the movement detection means. And a pan / tilt discriminating means for discriminating, and a control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, wherein the control signal generating means is internally generated. Gain control means for adjusting the gain of the control signal for controlling the motion correction means, the control signal by changing the gain of the control signal based on both the determination result by the pan-tilt determination means and the focal length This is to change the response characteristics of the generating means, which allows the movement of the image due to panning or tilting intentionally performed by the photographer. On the other hand, there is an effect that motion compensation is not performed, and thus panning or tilting photography as intended by the photographer can be realized.

According to a seventh aspect of the present invention, there is provided a motion detecting means for detecting a motion of the image pickup device, an image pickup optical system having one or a plurality of lenses and having a variable focal length,
Focal length detection means for detecting the focal length of the image pickup optical system, motion correction means for correcting the movement of the captured image caused by movement of the image pickup device, and panning or tilting from the output of the movement detection means. It has pan-tilt discrimination means for discriminating, and control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, and the control signal generating means internally generates the signal. The control signal generating means has a clipping means for limiting the signal width of the signal for controlling the motion correcting means, and changes the signal width based on both the discrimination result by the pan / tilt discrimination means and the focal length. This is to change the response characteristics, so that motion compensation for image movement due to panning or tilting intentionally performed by the photographer Without performing, thus having an effect of panning or tilting shooting intended by the photographer can be realized.

Embodiments of the present invention will be described below with reference to the drawings.

(Embodiment 1) FIG. 1 is a block diagram of an image motion correction apparatus according to Embodiment 1 of the present invention.

In the figure, an optical shake correction system 1 is provided in an image pickup apparatus (including at least an apparatus casing (not shown) and an image pickup optical system 4 and a solid-state image pickup element 7 (which will be described later) that move together with the casing) which are not shown in the drawings. It is a motion correction means for optically correcting the motion of the captured image caused by the shaking motion or the like. The optical shake correction system 1 is used in all the following embodiments.
As an example, a case where a variable apex angle prism is used will be described. In the following reference numerals, the optical shake correction system 1 is referred to as a variable apex angle prism 1.

The optical shake correction system drive control means 2 is a means for driving and controlling the variable apex angle prism 1, and more specifically, is orthogonal to each other in a plane orthogonal to the optical axis of the image pickup optical system 4 described later. The parallel plane plate of the variable apex angle prism 1 is rotationally driven with the two axes as rotation axes.

The angle detecting means 3 is means for detecting and outputting the actual rotation angle of the plane-parallel plate of the variable vertical angle prism 1, and together with the optical shake correction system drive control means 2, the variable vertical angle prism 1 is provided.
To form a feedback control loop for driving and controlling the.

The image pickup optical system 4 is a lens system which is composed of one or a plurality of lenses and which performs an optical zooming operation and a focusing operation.

The image pickup optical system drive control means 5 includes an image pickup optical system 4.
Is a means for driving and controlling the optical zoom operation and the focusing operation, and outputting focal length information of the image pickup optical system 4, and detects the focal length of the image pickup optical system 4. It constitutes a focal length detecting means.

The A / D conversion means 6 is means for converting the focal length information of the image pickup optical system 4 output from the image pickup optical system drive control means 5 into a digital signal.

The solid-state image pickup device 7 is an image pickup device for converting an image incident through the variable apex angle prism 1 and the image pickup optical system 4 into an electric signal.

The analog signal processing means 8 is a solid-state image pickup device 7.
It is a means for performing analog signal processing such as gamma processing on the image signal obtained by.

The A / D conversion means 9 is means for converting an analog signal into a digital signal.

The digital signal processing means 10 performs digital signal processing such as noise removal and edge enhancement on the image signal converted into a digital signal by the A / D conversion means 9.

The angular velocity sensor 11 constitutes a motion detecting means for detecting the motion of the image pickup device itself, and the direction of movement of the image pickup device is based on the output when the image pickup device is stationary. Outputs an angular velocity signal in both positive and negative directions. Two angular velocity sensors 11 are required to detect movements in two directions, yawing and pitching, but FIG. 1 shows only one direction.

The filter 12 is a filter for removing an unnecessary band component (for example, a resonance frequency component of the sensor) included in the output of the angular velocity sensor 11.

The amplifier 13 is an amplifier circuit for adjusting the signal level of the output of the angular velocity sensor 11.

The A / D conversion means 14 is means for converting the output of the angular velocity sensor 11 into a digital signal.

The micro-computer 5 determines the presence or absence of panning or tilting from the output of the angular velocity sensor 11 taken in through the A / D conversion means 14, that is, the angular velocity which is the detection output of the motion of the image pickup device. Means, and the determination result and the focal length information of the image pickup optical system 4 obtained through the A / D conversion means 6, the output of the angular velocity sensor 11 is subjected to filtering, integration processing, gain adjustment, and clipping processing. And the like, and constitutes a control signal generating means for generating a drive control amount (hereinafter, referred to as a control signal) of the variable apex angle prism 1 necessary for motion correction.

The D / A conversion means 16 converts the control signal from the microcomputer 5 into an analog signal and sends it to the optical shake correction system drive control means 2. In this case, the optical shake correction system drive control means 2 corrects the movement of the image by driving the variable apex angle prism 1 which is the movement correction means based on the control signal.

The solid-state image sensor drive control means 17 is a means for driving and controlling the solid-state image sensor 7.

Regarding the image motion correction apparatus of the first embodiment configured as described above, the operation will be described below based on the processing program stored in the microcomputer 15 (pan / tilt determination means, control signal generation means). explain. A series of operations such as angular velocity detection by the angular velocity sensor 11 (motion detecting means) and drive control of the variable apex angle prism 1 (motion correcting means) are performed in both horizontal and vertical directions, but in both horizontal and vertical directions. The contents are the same. Therefore, in order to simplify the description, the horizontal and vertical directions are not distinguished, and only one direction is shown and described.

FIG. 2 is an example of a flow chart of a processing program stored in the microcomputer 15.
When an image stabilization switch (not shown) is operated, FIG.
A series of processing shown in is started. Although not shown in FIG. 2, one processing loop is interrupted at regular intervals by, for example, a timer incorporated in the microcomputer 15, and each interrupt (for example, 1 mse) is performed.
It is assumed that the loop process is executed every (c).

When a timer interrupt is applied,
First, in step 101, the output of the angular velocity sensor 11, which is the motion detecting means, that is, the angular velocity of the motion of the image pickup apparatus is fetched into the microcomputer 15 which is means for pan / tilt determination and control signal generation. Next, in step 102, it is used in four processes to be described later, which are processes performed in the microcomputer 15, that is, filtering (high-pass filling; HPF), integration process, gain adjustment, and clipping process. The cutoff frequency, the integration constant K, the gain G, and the clip value C that are set values are set to initial values. This initial value is already adjusted to the optimum value for normal camera shake correction. In order to perform camera shake correction, if the processing in each subsequent step is executed using the setting value set in step 102, optimal shake correction can be executed originally. The initial values of the cutoff frequency, the integration constant K, the gain G, and the clip value C are fc, Ki, Gi, and Ci, respectively.

At step 103, it is judged from the angular velocity whether the photographing operation is panning or tilting. The method of determining the shooting operation in step 103 is
At the time of panning or tilting, the fact that the signs of the angular velocities are in the same direction and are above a certain level continuously tends to be used. For example, the angular velocity obtained by the angular velocity sensor 11 is a threshold value for a certain period of time. If it is above, it is determined to be panning or tilting.

When it is not determined to be panning or tilting in step 103, that is, in the normal camera shake state, steps 104 and 105 are skipped and the processing from step 106 onward is executed. In this case, the processing of the following four steps 106 to 109 is executed with the set value set in step 102.

Specifically, step 106 is a step of band limiting the output of the angular velocity sensor 11 loaded into the microcomputer 15 by a high-pass filter (HPF). The HPF in this step is for removing low-frequency unnecessary signal components such as temperature drift included in the output of the angular velocity sensor 11, and for example, the transfer function is (1-Z ⁻¹ ) / (1-a · Z ⁻¹ ) has a filter characteristic (this characteristic formula is well known and therefore will not be described). By changing this coefficient a, the pass band (cutoff frequency) of the filter is changed. be able to.

In step 107, the output of the angular velocity sensor 11 after the filtering in step 106 is integrated to obtain an angle from the angular velocity.
In the processing in step 107, for example, if the transfer function is 1 /
It is assumed to have a filter characteristic of (1-K · Z ⁻¹ ).
Note that K is an integration constant, and 0 <K <1. Also,
By changing this integration constant, the time constant of the integration process can be manipulated.

Step 108 is a step of performing gain adjustment for the angle information of the movement of the image pickup apparatus obtained from the output (angular velocity) of the angular velocity sensor 11 in step 107, and the gain G is used as the output (angle information) of step 107. To multiply.

In step 109, clipping processing is performed so that the control signal sent from the microcomputer 15 to the optical shake correction system drive control means 2 does not indicate a correction amount exceeding the correction range of the optical shake correction system 1. In this step, the control signal is clipped based on the clip value C, and the clipped data is converted into an analog signal by the D / A conversion means 16 and sent to the optical shake correction system drive control means 2.

The above is the case where it is not determined to be panning or tilting in step 103, and conversely, when it is determined to be panning or tilting in step 103, processing for limiting the function of camera shake correction is added. To be done.

The processing to be added when it is determined to be panning or tilting is that the movement of the image pickup apparatus due to panning or tilting is a movement with a low frequency component with respect to normal camera shake. Since this movement does not require any particular explanation, it is omitted. Therefore, during panning or tilting, the response characteristic to the low frequency band of the series of processing systems executed by the microcomputer 15 is lowered, and the longer the focal length, the further the response characteristic to the low frequency band is lowered. By doing so, it is an object to prevent the optical shake correction system 1 from following the movement of the image pickup apparatus due to panning or tilting, and as a result, it is possible to correct image movement by mistake during panning or tilting. Can be prevented.

Particularly, the response characteristic to the low frequency band of the processing system is changed according to the focal length, that is, the longer the focal length, that is, the shorter the focal length, the shorter the focal length becomes. However, the movement of the captured image relative to that becomes relatively large, so the response characteristic to the low frequency band of the processing system is further lowered toward the telephoto side, and the movement of the image due to panning or tilting is erroneously corrected. Even when a high-magnification zoom is noticeable, the higher prevention effect can be obtained.

Hereinafter, in the first embodiment, as a process for limiting the function of camera shake correction, the HPF cut is performed in the step of band limiting the output of the angular velocity sensor 11 with a high-pass filter (HPF). The process of changing the off frequency will be described. When it is determined to be panning or tilting in step 103, first in step 104, the focal length of the imaging optical system 4 obtained from the imaging optical system drive control means 5 via the A / D conversion means 6 is detected. Thereby, the zoom magnification of the imaging optical system 4 can be obtained.

In the next step 105, the cutoff frequency of the HPF when the output of the angular velocity sensor 11 loaded into the microcomputer 15 is band-limited by the high-pass filter (HPF) (step 106) is determined by the image pickup optical system 4. This is the step of determining by the focal length of.

This step 105 internally has a function for calculating the cutoff frequency from the focal length or a table for defining the relationship between the focal length and the cutoff frequency.
The cutoff frequency is determined by this function or table, and the set value of the cutoff frequency, which was set to the initial value in step 102, is changed to the value determined in step 105.

As a result, in the subsequent step 106, the high-pass filter (HPF) having the cutoff frequency reset in step 105 instead of the initial value of the cutoff frequency set in step 102 Bandwidth will be limited to the output.

FIG. 3 shows an example of the cutoff frequency determining method in step 105 shown in FIG. This Figure 3
In the example shown in, the minimum focal length value (widest angle side: fmi
From n) to the focal length f1 determined in advance, the cutoff frequency of the HPF (step 106) is set to fc2.
From the focal length f2 to the maximum focal length (most telephoto side: fm
up to ax) the cutoff frequency is fc1 and the focal length is f
From 1 to f2, the cutoff frequency is continuously changed. Also, the cutoff frequency fc
2 is the focal length f with respect to the set value (fc) of the normal camera shake correction cutoff frequency set in step 102.
The cut-off frequency fc2 up to 1 ≧ normal shake-correction cut-off frequency fc is determined. this is,
In normal camera shake correction, the cutoff frequency fc of the high-pass filter is set low, and the cutoff frequency when it is determined to be a pulse tilt is set to fc2 higher than fc up to the focal length f1. .

As described above, the cutoff frequency of the high-pass filter (step 106) during panning or tilting is set higher than the set value fc of the cutoff frequency during normal camera shake correction, and further, depending on the focal length. Higher settings widen the low-frequency bandwidth removed by the high-pass filter, removing low-frequency motion components such as panning or tilting, resulting in incorrect image motion correction during panning or tilting. Can be prevented.

In FIG. 3, f1 = fmin, f2
= Fmax or a method of limiting the cutoff frequency to two values by setting f1 = f2. Further, as shown in FIG. 4, an example in which the cutoff frequency is changed nonlinearly can be considered.

FIG. 5 shows an example of a method of switching the cutoff frequency when the normal camera shake correction state is changed to the correction state at the time of panning or tilting. As described above, at the time of panning or tilting, step 105
Although the cut-off frequency is changed in step 2, if the switching is performed in a short time, the shake correction characteristic may be changed abruptly, which may cause discomfort. Therefore, for example, as shown in FIG. 5, a method may be considered in which the time at which the panning or tilting determination is made is set to t1 and the cutoff frequency is gradually changed from the time t1. Conversely, when shifting from the correction state at the time of panning or tilting to the normal camera shake correction state, the cutoff frequency may be gradually changed similarly. In FIG. 5, fc
pt is the set value of the cutoff frequency at the time of panning or tilting determined in step 105.

In this case, the switching between the normal camera shake correction state and the correction state during panning or tilting is detected, and the high-pass filter (step 106) is used so that the cutoff frequency continuously changes between the two states. The process of resetting the cutoff frequency used in ()) may be added to the series of processes shown in FIG. By doing so, since the cutoff frequency is gradually changed, the correction performance is also changed gently in the same manner, and the photographer does not feel uncomfortable.

Further, instead of linearly changing the cutoff frequency as shown in FIG. 5, a method of nonlinearly changing the cutoff frequency as shown in FIG. 6 can be considered.

Needless to say, in addition to the example in which the cutoff frequency is continuously changed as shown in FIGS. 5 and 6, there may be an example in which the cutoff frequency is changed in multiple stages.

As described above, in the first embodiment of the present invention,
The microcomputer 15 has a high-pass filter that removes low-frequency components included in the output of the angular velocity sensor 11, and cutoff of the high-pass filter according to the focal length of the imaging optical system 4 during panning or tilting. By setting the frequency higher than in the normal camera shake state, the motion correction performance of the optical shake correction system 1 is limited, and as a result, it is possible to prevent the image motion from being corrected by mistake during panning or tilting. In particular, since the cutoff frequency is changed according to the focal length, a high effect can be obtained even at the time of high-magnification zooming in which unpleasantness is noticeable when the movement of the image due to panning or tilting is erroneously corrected.

(Embodiment 2) The image motion correction apparatus according to Embodiment 2 of the present invention differs from that of Embodiment 1 of the present invention only in the processing contents in the microcomputer 15. , Microcomputer 15
A description will be given based on the processing program stored in. In addition,
The same processing contents as those in the first embodiment of the present invention are designated by the same reference numerals as those in FIG. 2 and their explanations are omitted.

FIG. 7 shows an example of the flow chart of the processing program stored in the microcomputer 15.
In the processing shown in FIG. 7, it is assumed that the loop processing is executed for each interrupt by the timer built in the microcomputer 15.

When a timer interrupt is applied,
In step 101, the angular velocity is microcomputer 1
In step 102, the set value used in the subsequent processing is set to the initial value.

In step 103, determination of panning or tilting is performed, and when it is not determined to be panning or tilting, step 106 is performed using the set value set in step 102 as in the first embodiment.
The process of step 109 is executed.

If it is determined to be panning or tilting, the following processing is added to limit the function of camera shake correction.

First, at step 104, the focal length of the imaging optical system 4 obtained from the imaging optical system drive control means 5 via the A / D conversion means 6 is detected.

Then, in step 205, the angular velocity sensor 11 loaded in the microcomputer 15 is loaded.
When the moving angle of the image pickup apparatus is obtained from the output (angular velocity) of (1) (step 107), the integration constant K that defines the frequency characteristic of the integration process (integration filter) is determined by the focal length of the image pickup optical system 4.

This step internally has a function for calculating the integral constant K from the focal length or a table for defining the relationship between the focal length and the integral constant K, and the integral constant K is determined by this function or table. Then, the set value of the integration constant K, which has been set to the initial value in step 102, is changed to the value determined in this step.

As a result, in the subsequent step 107, the integration process is performed using the integration constant reset in step 205 instead of the initial value of the integration constant set in step 102. Also, steps 106 and 10
In 8 and 109, each process is executed using the initial value of the set value.

FIG. 8 is an example of a method of determining the integration constant K in step 205 shown in FIG. In the example shown in the drawing, from the minimum focal length value (widest angle side: fmin) to the predetermined focal length f1, the integration constant of the integration process (step 107) is set to K1, and the focal length f2.
To the maximum focal length value (most telephoto side: fmax), the integration constant is changed to K2, and from f1 to f2, the integration constant is continuously changed. Further, K1 is determined such that K1 ≦ Ki is satisfied with respect to the set value (Ki) of the normal camera shake correction integration constant set in step 102.

As described above, if the integration constant of the integration process (step 107) during panning or tilting is set smaller than the set value of the integration constant during normal camera shake correction, and further smaller according to the focal length, the integration is performed. The time constant of the processing can be shortened, and thus the gain for the low frequency component of the integration processing can be reduced. For example, K =
When 0.9, the filter gain for the DC component is 1 /
It is also clear from the fact that when 0.1 = 10 and K = 0.8, the filter gain for the DC component is 1 / 0.2 = 5. Therefore, if the integration constant is set to a small value, the response to a low frequency motion such as panning or tilting is lowered, and as a result, it is possible to prevent the motion of the image from being erroneously corrected during panning or tilting.

In FIG. 8, f1 = fmin, f2
= Fmax or a method of limiting the integration constant to two values by setting f1 = f2. Further, an example in which the integration constant is changed nonlinearly as shown in FIG. 4 of the first embodiment can be considered.

FIG. 9 shows an example of a method of switching the integration constant when the normal camera shake correction state is changed to the correction state during panning or tilting. As described above, the integration is changed in step 205 at the time of panning or tilting, but if the switching is performed in a short time, the correction characteristic of the shake may suddenly change, which may cause discomfort. Therefore, for example, as shown in FIG. 9, a method in which the time at which the panning or tilting determination is made is set to t1 and the integration is gradually changed from the time t1 can be considered. On the contrary, it is also conceivable to gradually change the integration constant when shifting from the correction state at the time of panning or tilting to the normal camera shake correction state. In FIG. 9, Kpt is the set value of the integration constant during panning or tilting determined in step 205.

In this case, the switching between the normal camera shake correction state and the correction state at the time of panning or tilting is detected and used in the integration process (step 107) so that the integration constant continuously changes between the two states. The process of resetting the integration constant may be added to the series of processes shown in FIG. By doing so, since the integration constant is gradually changed, the correction performance is also changed gently in the same manner, and there is no fear that the photographer feels uncomfortable.

Further, instead of linearly changing the cutoff frequency as shown in FIG. 9, FIG. 6 of the first embodiment of the present invention is used.
A method of changing the cutoff frequency in a non-linear manner as shown in FIG.

Needless to say, other than the example of continuously changing the cutoff frequency as shown in FIG. 9, there may be an example of changing the cutoff frequency in multiple stages.

As described above, according to the second embodiment of the present invention, the microcomputer 15 has an integrating means for integrating the output of the angular velocity sensor 11 and converting the angular velocity into an angle. The integration constant used in the integrating means according to the focal length of the system 4 is
By setting it smaller than the normal camera shake condition, the motion correction performance of the optical shake correction system 1 is limited, and as a result, it is possible to prevent the image motion from being corrected by mistake during panning or tilting. In particular, since the integration constant is changed according to the focal length, a high effect can be obtained even at the time of high-magnification zoom in which the uncomfortableness when the movement of the image due to panning or tilting is corrected by mistake is noticeable.

(Third Embodiment) The image motion correction apparatus according to the third embodiment of the present invention differs from that of the first embodiment of the present invention only in the processing contents in the microcomputer 15. , Microcomputer 15
A description will be given based on the processing program stored in. In addition,
The same processing contents as those in the first embodiment of the present invention are designated by the same reference numerals as those in FIG. 2 and their explanations are omitted.

FIG. 10 is an example of a flow chart of a processing program stored in the microcomputer 15. In the processing shown in FIG. 10, it is assumed that the loop processing is executed for each interrupt by the timer built in the microcomputer 15.

When a timer interrupt is issued,
In step 101, the angular velocity is microcomputer 1
In step 102, the set value used in the subsequent processing is set to the initial value.

In step 103, determination of panning or tilting is performed, and if it is not determined to be panning or tilting, step 106 is performed using the set value set in step 102 as in the first embodiment.
The process of step 109 is executed.

When it is determined to be panning or tilting, the following processing is added to limit the function of camera shake correction.

First, at step 104, the focal length of the image pickup optical system 4 obtained from the image pickup optical system drive control means 5 via the A / D conversion means 6 is detected.

Next, in step 305, the gain (this is set when the gain adjustment is performed for the angle information of the movement of the image pickup apparatus obtained from the output (angular velocity) of the angular velocity sensor 11 loaded in the microcomputer 15 (step 308) Is defined as G) by the focal length of the imaging optical system 4.

In this step, a function for calculating the gain G from the focal length of the image pickup optical system 4 or a table for defining the relationship between the focal length of the image pickup optical system 4 and the gain G is provided inside, and this function or The gain G is determined by the table, and the gain G set to the initial value in step 102
Change the setting value of to the value determined in this step.

As a result, in the subsequent step 108, the gain adjustment is performed with the gain reset in step 305 instead of the initial gain value set in step 102. Also, steps 106, 107,
At 109, each process is executed using the initial value of the set value.

FIG. 11 shows step 305 shown in FIG.
3 is an example of a method of determining the gain G in FIG. In the example shown in the figure, the gain is G1 from the minimum focal length value (the widest angle side: fmin) to the predetermined focal length f1, and the maximum focal length value from the focal length f2 (the maximum telephoto side:
Up to fmax), the gain is changed to G2, and from f1 to f2, the gain is changed continuously. Further, G1 is determined so that G1 ≦ Gi with respect to the normal set value (Gi) of the image stabilization gain set in step 102.

As described above, if the gain at the time of gain adjustment (step 108) during panning or tilting is set smaller than the set value of the gain during normal camera shake correction, and further smaller according to the focal length, the microcomputer The control signal itself sent from 15 to the optical shake correction system drive control means 2 becomes small, the overall response characteristic is lowered, and as a result, it is possible to prevent erroneous correction of image movement during panning or tilting.

In FIG. 11, f1 = fmin, f
A method of setting 2 = fmax and a method of limiting the gain to two values by setting f1 = f2 are also possible. Further, an example in which the gain is changed nonlinearly as shown in FIG. 4 of the first embodiment can be considered.

Further, as has been pointed out in the first and second embodiments, when the gain is switched in a short time during panning or tilting, the shake correction characteristic changes abruptly. There may be a feeling of strangeness. Therefore, also in the third embodiment, as in the first and second embodiments, the switching between the normal camera shake correction state and the correction state at the time of panning or tilting is detected, and the integration constant between the two states is If the process of resetting the gain used in the gain adjustment (step 108) is added to the series of processes shown in FIG. 10 so as to change continuously, the gain is gradually changed, and the correction performance is also the same. It goes without saying that there is no risk that the photographer will feel a sense of discomfort due to the gradual change.

Further, at that time, the gain is not linearly changed as in the first and second embodiments, but is nonlinearly changed as shown in the first embodiment of the present invention. It goes without saying that there is naturally a method and an example of changing the gain in multiple stages.

As described above, in the third embodiment of the present invention, the microcomputer 15 includes the optical device shake correction system 1
A gain adjusting means for adjusting the gain of a control signal for controlling the zoom control, and the gain used in the gain adjustment according to the focal length of the imaging optical system 4 during panning or tilting is set to be smaller than in a normal camera shake state. As a result, the motion correction performance of the optical shake correction system 1 is limited, and as a result, it is possible to prevent the motion of the image from being erroneously corrected during panning or tilting. In particular, since the gain is changed according to the focal length, a high effect can be obtained even in a high-magnification zoom in which unsightlyness is noticeable when the movement of an image due to panning or tilting is erroneously corrected.

(Embodiment 4) The image motion correction apparatus according to Embodiment 4 of the present invention differs from that of Embodiment 1 of the present invention only in the processing contents in the microcomputer 15. , Microcomputer 15
A description will be given based on the processing program stored in. In addition,
The same processing contents as those in the first embodiment of the present invention are designated by the same reference numerals as those in FIG. 2 and their explanations are omitted.

FIG. 12 is an example of a flow chart of a processing program stored in the microcomputer 15. In the processing shown in FIG. 12, it is assumed that the loop processing is executed for each interrupt by the timer built in the microcomputer 15.

When a timer interrupt is applied,
In step 101, the angular velocity is microcomputer 1
In step 102, the set value used in the subsequent processing is set to the initial value.

In step 103, determination of panning or tilting is performed, and if it is not determined to be panning or tilting, step 106 is performed using the set value set in step 102 as in the first embodiment.
The process of step 109 is executed.

When it is determined to be panning or tilting, the following processing is added to limit the function of camera shake correction.

First, at step 104, the focal length of the imaging optical system 4 obtained from the imaging optical system drive control means 5 via the A / D conversion means 6 is detected.

Next, in step 405, the control signal sent from the microcomputer 15 to the optical shake correction system drive control means 2 in step 109 may indicate a correction amount exceeding the correction range of the optical shake correction system 1. A clip value (this is referred to as C) at the time of performing the clip processing is determined so as not to exist.

In this step, a function for calculating the clip value C from the focal length of the image pickup optical system 4 or a table for defining the relationship between the focal length of the image pickup optical system 4 and the clip value C is provided inside this step. The clip value C is determined by a function or table, and the set value of the clip value C set to the initial value in step 102 is changed to the value determined in this step.

As a result, in the subsequent step 109, the gain adjustment is performed with the gain reset in step 405 instead of the initial clip value set in step 102. Also, steps 106 and 10
In 7 and 108, each process is executed using the initial value of the set value.

FIG. 13 shows step 405 shown in FIG.
3 is an example of a method of determining the clip value C in FIG. In the example shown in the figure, the minimum focal length value (widest angle side: fmin)
To the focal length f1 determined in advance, the clip value is continuous to C1, the clip value from the focal length f2 to the maximum focal length value (most telephoto side: fmax) is C2, and the clip value is continuous from f1 to f2. It is intended to be changed. Further, C1 is determined so that C1 ≦ Ci with respect to the normal set value (Ci) of the clip value for camera shake correction set in step 102.

As described above, when the clip value of the clip processing (step 109) during panning or tilting is set smaller than the set value of the clip value at the time of normal camera shake correction, and further smaller according to the focal length, The signal width of the control signal sent from the computer 14 to the optical shake correction system drive control means 2 can be limited to a small range, that is, the shake correction range is narrowed, and as a result, the degree of correction of image movement due to panning or tilting is small. Become.

In FIG. 13, f1 = fmin, f
A method of setting 2 = fmax and a method of limiting the clip value to two values by setting f1 = f2 are also possible. Further, an example in which the clip value is changed to a non-linear shape as shown in FIG. 4 of the first embodiment can be considered.

Further, as has been pointed out in the first and second embodiments, when the clip value is switched in a short time during panning or tilting,
There is a risk that the shake correction characteristics will change suddenly and a sense of incongruity will occur. Therefore, also in the fourth embodiment, as in the first and second embodiments, the switching between the normal camera shake correction state and the correction state at the time of panning or tilting is detected, and the clip value is changed between the two states. If the process of resetting the clip value used in the clip process (step 109) so as to change continuously is added to the series of processes shown in FIG. 12, the clip value is gradually changed so that the correction performance is also improved. Similarly, it goes without saying that there is no possibility that the photographer will feel a sense of discomfort because of a gradual change.

At that time, instead of linearly changing the clip value as in the case of the first and second embodiments, the non-linear change is made as shown in FIG. 6 of the first embodiment of the present invention. It goes without saying that a method of changing the clip value and an example of changing the clip value in multiple stages are naturally possible.

In FIG. 13, only the method of determining the clip value in one direction around the center value (zero) is shown, but the clip value in the opposite direction may be used by inverting the sign of the clip value shown.

As described above, in the fourth embodiment of the present invention, the microcomputer 15 includes the optical machine shake correction system 1
Has a clipping means for limiting the control signal for controlling the control signal width, that is, the control signal width, and at the time of panning or tilting, the clip value used in the clipping process according to the focal length of the imaging optical system 4 is set to the normal camera shake state. By setting the value smaller than that of (1), the motion correction performance of the optical shake correction system 1 is limited, and as a result, it is possible to prevent erroneous correction of image motion during panning or tilting. Especially because the clip value is changed according to the focal length,
A high effect can be obtained even at the time of a high-magnification zoom in which the uncomfortableness when the movement of the image due to the panning or the tilting is corrected by mistake is noticeable.

It should be noted that it is easy to use two or more of the above embodiments in combination, and in that case,
By combining them, it is possible to more effectively limit the motion correction performance, and as a result, it is possible to prevent the motion of the image from being corrected during panning or tilting.

Further, in all the above-described embodiments, the determination method in step 103 is, for example, the angular velocity sensor 1
If the angular velocity obtained in 1 is equal to or greater than a certain threshold continuously for a certain period of time, it is determined to be panning or tilting.
However, the present invention is not limited to this. For example, a method of analyzing the vibration frequency component of the angular velocity obtained by the angular velocity sensor 11 and determining that it is panning or tilting can be considered. Needless to say, all of the above-described embodiments are effective no matter what method is used to determine panning or tilting.

Further, in all the above-mentioned embodiments, the optical shake correction system 1 is explained as a variable apex angle prism, but the invention is not limited to this, and the optical shake correction system 1 can be driven relative to the image pickup optical system 4. Means for realizing optical axis correction, for example, means for moving the optical axis by shifting some or all of the lenses in a direction perpendicular to the optical axis (for example, Japanese Patent Application No. 63-201622). It is obvious that the optical shake correction system 1 can be used as long as it is disclosed in (1).

Further, in all the above-described embodiments, the optical shake correction system 1 is moved by rotatably supporting and driving the image pickup optical system 4, the solid-state image pickup device 7 and the like with respect to the casing of the image pickup apparatus. A configuration (for example, disclosed in "Development of Image Blur Prevention Technology for Video Cameras", Television Society Technical Report Vol. 11, No. 28, pp 19-24 (1987)) is also conceivable.

Further, in all of the above-mentioned embodiments, the structure for optically correcting the shake has been described as an example of the means for correcting the movement of the image, but the present invention is not limited to this. Even with the method of correcting the movement by controlling the drive of the image memory, the effects shown by all the above-described embodiments can be realized.

Further, in all of the above-mentioned embodiments, the means for detecting the movement of the image pickup device has been described by taking the angular velocity sensor as an example. However, the means is not limited to this, and for example, by pattern matching between fields or frames of photographed images. There is no problem even if the method of detecting the motion vector of the image is used instead of the angular velocity sensor. Also in this case,
For example, if the motion vector is above a certain threshold continuously for a certain period of time, it is determined that panning or tilting is performed
It is considered that panning or tilting is discriminated by a method such as the above.

Further, in all the above-mentioned embodiments, the example of the program processing by the microcomputer is shown, but the present invention is not limited to this, and the program processing by the microcomputer can be realized by hardware such as an electronic circuit. Needless to say.

Further, in all the above embodiments,
Although no particular reference was made to the number of solid-state image pickup elements of the image pickup apparatus, it is clear that the present invention is effective in any of the single-plate type image pickup apparatus, the two-plate type image pickup apparatus, and the three-plate type image pickup apparatus. Further, it is clear that the present invention is similarly effective in an image pickup apparatus using an image pickup tube instead of the solid-state image pickup element.

[0120]

As described above, according to the present invention, the movement detecting means for detecting the movement of the image pickup device itself, the image pickup optical system having a variable focal length, and the focal length for detecting the focal length of the image pickup optical system. A detection unit, a motion correction unit that corrects the movement of the captured image that occurs due to the movement of the imaging device itself, and a control signal that generates a signal for controlling the motion correction unit based on the output of the movement detection unit. When the panning or tilting is performed, the response characteristic of the control signal generating means is changed according to the focal length of the imaging optical system detected by the focal length detecting means to limit the motion correction performance. However, it is possible to prevent erroneous correction of image movement due to panning or tilting. In particular, since the motion correction performance is limited according to the focal length, erroneous panning or tilting is prevented. High power zoom even at high effect of unsightly noticeable in the case of correcting the movement of the image is obtained by ring.

[Brief description of drawings]

FIG. 1 is a block diagram showing an image motion correction device according to a first embodiment of the present invention.

FIG. 2 is a flowchart for explaining processing contents by the microcomputer 15 according to the first embodiment of the present invention.

FIG. 3 is a diagram showing an example of a cutoff frequency determining method according to the first embodiment of the present invention.

FIG. 4 is a chart showing an example of a cutoff frequency determination method according to the first embodiment of the present invention.

FIG. 5 is a chart showing an example of a cutoff frequency changing method according to the first embodiment of the present invention.

FIG. 6 is a diagram showing an example of a cutoff frequency changing method according to the first embodiment of the present invention.

FIG. 7 is a flowchart for explaining processing contents by the microcomputer 15 according to the second embodiment of the present invention.

FIG. 8 is a chart showing an example of a method of determining an integration constant K in the second embodiment of the present invention.

FIG. 9 is a diagram showing an example of an integration constant changing method according to the second embodiment of the present invention.

FIG. 10 is a flowchart for explaining processing contents by the microcomputer 15 according to the third embodiment of the present invention.

FIG. 11 is a diagram showing an example of a gain G determining method according to the third embodiment of the present invention.

FIG. 12 is a flowchart for explaining processing contents by the microcomputer 15 according to the fourth embodiment of the present invention.

FIG. 13 is a clip value C according to the fourth embodiment of the present invention.
Chart showing an example of how to determine

[Explanation of symbols]

1 ... Optical shake correction system 2 ... Optical shake correction system drive control means 3 ... Angle detection means 4 ... Imaging optical system 5: Imaging optical system drive control means 6 ... A / D conversion means 7 ... Solid-state image sensor 8: Analog signal processing means 9 ... A / D conversion means 10 ... Digital signal processing means 11 ... Angular velocity sensor 12 ... Filter 13 ... Amplifier 14 ... A / D conversion means 15 ... Microcomputer 16 ... D / A conversion means 17 ... Solid-state image sensor drive control means

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G03B 5/00 G03B 5/06 H04N 5/232

Claims (18)

(57) [Claims] 1. A motion detecting means for detecting a motion of an image pickup device, an image pickup optical system including one or a plurality of lenses and having a variable focal length, and a focal length detection for detecting a focal length of the image pickup optical system. Means, a motion correction means for correcting the movement of the captured image caused by the movement of the image pickup device, a pan-tilt discrimination means for discriminating panning or tilting from the output of the movement detection means, and an output of the movement detection means and a control signal generating means for generating a signal for controlling the motion compensation unit based on the control signal generating means, including an output of said motion detecting means
It has a high-pass filter for removing Murrell low frequency component, the focal length and the discrimination result by the pan-tilt determination unit
And the cutoff frequency of the high pass filter based on both
An image motion correction device characterized in that the response characteristic of the control signal generating means is changed by changing the wave number . 2. Others during panning or tilting
Cutoff frequency of the high-pass filter compared to
Is set to a higher value and the focal length is longer,
Image motion compensation apparatus according to claim 1, characterized in that the cut-off frequency of the over-filter higher. 3. A motion detecting means for detecting a motion of an image pickup device.
And the focal length is variable, consisting of one or more lenses
Imaging optical system and focal length detecting means for detecting the focal length of the imaging optical system
A motion correction means for correcting the movement of the captured image caused by the movement of the imaging device, a pan-tilt determination means for determining panning or tilting from the output of the movement detection means, and an output of the movement detection means. Control the motion compensation means
Control signal generating means for generating a signal for controlling, and the control signal generating means multiplies the output of the motion detecting means.
It has integral means for minute to, the focal length and the discrimination result by the pan-tilt determination unit
By changing the time constant of the integration based on both
An image motion correction device characterized in that a response characteristic of a control signal generating means is changed . 4. When panning or tilting, other
The time constant of the integration is set shorter than that of
The longer the focal length, the shorter the integration time constant should be set.
The image motion correction device according to claim 3, wherein: 5. A motion detecting means for detecting a motion of an image pickup device.
And the focal length is variable, consisting of one or more lenses
Imaging optical system and focal length detecting means for detecting the focal length of the imaging optical system
And the movement of the captured image caused by the movement of the imaging device
Correcting motion correction means and output from the motion detection means
Pan / tilt discrimination hand for discriminating between tilting and tilting
And the motion compensation means is controlled based on the output of the motion detection means.
And a control signal generating means for generating a signal for controlling the movement , wherein the control signal generating means has the movement generated therein.
Adjust the gain of the control signal for controlling the correction means
A gain adjustment means, and a discrimination result by the pan-tilt discrimination means and the focal length.
By changing the gain of the control signal based on both
An image motion correction device, characterized in that the response characteristic of the control signal generating means is changed . 6. When panning or tilting, other
The gain of the gain adjustment means is set smaller than
And the focal length is longer, the gain adjusting means
6. The gain is set to be even smaller.
The image motion correction device described . 7. A motion detecting means for detecting a motion of an image pickup device.
And the focal length is variable, consisting of one or more lenses
Imaging optical system and focal length detecting means for detecting the focal length of the imaging optical system
And the movement of the captured image caused by the movement of the imaging device
Correcting motion correction means and output from the motion detection means
Pan / tilt discrimination hand for discriminating between tilting and tilting
And the motion compensation means is controlled based on the output of the motion detection means.
Control signal generating means for generating a control signal, and the control signal generating means has clipping means for limiting a signal width of a signal for controlling the motion correcting means generated therein. Then, the discrimination result by the pan-tilt discrimination means and the focal length
By changing the signal width based on both
An image motion correction device characterized by changing the response characteristic of the signal generation means . 8. Others during panning or tilting
The signal width is limited to a smaller value than in the case of
The longer the distance, the smaller the signal width can be limited.
The image motion correction device according to claim 7, which is characterized in that . 9. The response characteristic of the control signal generating means has a predetermined time.
It is characterized in that it is continuously changed within
Item 8. The image motion correction device according to any one of items 8 . Response of 10. The control signal generating means, the image movement as claimed in any one of claims 1 a <br/> stone 8, characterized in that changed stepwise within a predetermined time Correction device. 11. The motion correcting means is a variable apex angle prism.
Image motion compensation apparatus according to any one of claims 1 to 10, wherein the that. 12. The motion correction means is relative to the image pickup optical system.
Is driven to decenter the optical axis of the imaging optical system.
Image motion compensation apparatus according to any one of claims 1 to 10, wherein the that. 13. The motion correction means is orthogonal to the optical axis.
Eccentricity of the optical axis of the image pickup optical system
The image motion correction device according to any one of claims 1 to 10 , wherein the image motion correction device comprises one or more lenses that can be used. 14. The motion correcting means directs the imaging optical system to the optical axis.
Image motion compensation apparatus according to any one of claims 1 to 10, characterized in that it is configured for rotating about an interlinking two axes. 15. The motion correction means drives and controls the solid-state image sensor.
The image was taken by the solid-state image sensor.
2. A method for reading only a part of an image.
11. The image motion correction device according to any one of 1 to 10 . 16. A motion correction means drives and controls an image memory.
Of the image recorded on the image memory by
2. A method according to claim 1, wherein only a part is read out.
The image movement correction device according to any one of 10 . 17. The motion detecting means detects the motion of the image pickup apparatus itself.
The image motion correction device according to any one of claims 1 to 16 , wherein the image motion correction device is an angular velocity sensor that detects an angular velocity . 18. The motion detecting means is for moving the image from the photographed image.
Image motion compensation apparatus according to any one of claims 1 to 16, characterized in that the motion vector detection means for detecting gas vector.