JP2007067914A - Image pickup apparatus and its control method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image pickup apparatus and its control method, and program which can suppress erroneous operation considerably, such as moving an image regardless of the image pickup apparatus standing still, by detecting factors other than blurring and realizing blurring compensation of high precision and high stability. <P>SOLUTION: In the image pickup apparatus, a blurring detection sensor detects vibration of the image pickup apparatus and outputs it as an angular velocity signal. A high order LPF 207 eliminates a noise waveform from an angular velocity signal digitized by an A/D converter 201. Next, a frequency detection part 208 detects a frequency of the angular velocity signal outputted from the high order LPF 207. A quiescent state decision part 209 decides whether or not the frequency outputted by the frequency detection part 208 is equal to a specified value or below. As a result of the decision, when the frequency outputted by the frequency detection part 208 is equal to the specified value or below, a property of the second HPF 204 is switched to a property during a quiescent state. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an imaging apparatus, a control method therefor, and a program, and more particularly, to an imaging apparatus having a camera shake correction function that corrects image blur caused by camera shake during shooting, a control method therefor, and a program.

  Conventional imaging devices such as cameras and video cameras have a camera shake correction function for correcting image blur caused by camera shake at the time of shooting. It is running low.

  Normally, camera shake that occurs when a photographer photographs with an imaging device is vibration with a frequency of about 1 to 20 Hz. The imaging apparatus having the camera shake correction function first detects the angular velocity, acceleration, angular acceleration, angular displacement (tilt), and the like of the vibration with a sensor and converts them into an electrical signal. A correction value is calculated by performing arithmetic processing based on the electrical signal. Based on this correction value, the image blur is corrected by driving a correction lens that deflects the photographing light beam or by displacing the image obtained by the image sensor.

  In this imaging apparatus, a technique has been proposed in which it is detected that the imaging apparatus is fixed to a tripod or the like, and does not respond to drift components due to sensor characteristics or the like in a no-vibration state (for example, Patent Documents). 1).

In addition, in the correction system for detecting and correcting blur, when the frequency of blur is detected and it is detected that the correction system has exceeded a predetermined frequency causing a phase delay, the pass band of the correction system above the frequency is detected. There has been proposed an imaging device that can shut off (see, for example, Patent Document 2).
Japanese Patent Laid-Open No. 06-339063 JP 2000-039637 A

  However, the conventional imaging device has the following problems.

  In recent years, a storage device such as a DVD (Digital Versatile Disk) or a hard disk is used as an imaging device. These storage devices have greater vibration during recording and a drive frequency relatively close to the camera shake frequency compared to conventional tape recorders.

  For example, the rotational speed of a double-speed writing DVD drive installed in a video camera using a DVD as a storage medium is about 28 to 46 Hz, which is close to the above-described camera shake frequency (1 to 20 Hz). For this reason, the conventional imaging apparatus may erroneously detect rotational vibration as camera shake vibration when the DVD drive is recording.

  That is, the conventional imaging device moves an image even when the imaging device is stationary by detecting an error signal due to electrical noise or a factor other than blur such as a drift component of a blur detection sensor. A malfunction may occur.

  An object of the present invention is to realize a highly accurate and highly stable blur correction by detecting factors other than blurring to greatly suppress malfunctions such as moving an image even when the photographing apparatus is stationary. It is an object to provide an imaging apparatus capable of performing the same, a control method therefor, and a program.

  In order to achieve the above object, an imaging apparatus according to claim 1 is an imaging apparatus that captures an image by capturing a subject, and includes a vibration detection unit that detects vibration of the imaging apparatus, and a predetermined correction value. Correction means for correcting the movement of the acquired image based on the calculation means, calculation means for calculating the predetermined correction value based on the vibration detected by the vibration detection means and a predetermined calculation coefficient, and the vibration detection means. Extraction means for extracting vibrations in a predetermined band from the detected vibrations, determination means for determining a stationary state of the imaging apparatus based on vibrations in the predetermined band extracted by the extraction means, and the imaging apparatus by the determination means Control means for changing the predetermined calculation coefficient when it is determined that is in a stationary state.

  In order to achieve the above object, a method for controlling an imaging apparatus according to claim 9 is a method for controlling an imaging apparatus that captures an image by capturing a subject, a vibration detecting step for detecting vibration of the control apparatus, A correction step for correcting the movement of the acquired image based on the correction value, a calculation step for calculating the predetermined correction value based on the vibration detected in the vibration detection step and a predetermined calculation coefficient, An extraction step for extracting vibrations in a predetermined band from vibrations detected in the vibration detection step; a determination step for determining a stationary state of the control device based on vibrations in the predetermined band extracted in the extraction step; and the determination step A control step of changing the predetermined calculation coefficient when it is determined that the control device is stationary. And wherein the door.

  In order to achieve the above object, a program according to claim 17 is a program executed by an imaging apparatus that captures an image of a subject to acquire an image, a vibration detection module that detects vibration of the control device, and a predetermined correction. A correction module that corrects the movement of the acquired image based on a value; a calculation module that calculates the predetermined correction value based on vibration detected by the vibration detection module and a predetermined calculation coefficient; and the vibration detection An extraction module that extracts vibrations of a predetermined band from vibrations detected by the module; a determination module that determines a stationary state of the control device based on vibrations of the predetermined band extracted by the extraction module; and When it is determined that the control device is stationary, the control mode for changing the predetermined calculation coefficient is used. Characterized in that it comprises a Yuru.

  According to the present invention, when a vibration in the imaging device is detected and a signal in a predetermined band is extracted from the detected vibration, and the imaging device is determined to be stationary based on the extracted vibration in the predetermined band. Since the calculation coefficient for calculating the correction value to correct the movement of the image is changed, it is possible to greatly suppress malfunctions such as moving the image even when the shooting device is stationary by detecting factors other than blurring. In addition, highly accurate and highly stable blur correction can be realized.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[First Embodiment]
FIG. 1 is a block diagram schematically showing an internal configuration of the imaging apparatus according to the first embodiment of the present invention. In FIG. 1, only main parts related to the present invention are illustrated, and other elements of the imaging device are omitted.

  In FIG. 1, an imaging apparatus 100 according to the present embodiment includes a shake detection sensor 101, an HPF (high pass filter) 102, an amplifier 103, an LPF (low pass filter) 104, a microcomputer 105, and a shake correction unit 106.

  The shake detection sensor 101 includes a gyro sensor (angular velocity sensor), detects vibration of the imaging device 100, and outputs the vibration to the HPF 102 as an angular velocity signal. The HPF 102 generates a direct current component from the angular velocity signal output from the shake detection sensor 101. The amplifier 103 amplifies the angular velocity signal output from the HPF 102 with a predetermined amplification factor. The LPF 104 removes high-frequency noise (for example, a high frequency component of 300 Hz or more) from the angular velocity signal output from the amplifier 103.

  The microcomputer 105 controls the entire imaging apparatus 100. Further, the microcomputer 105 calculates a blur correction value based on the angular velocity signal output from the LPF 104.

  The blur correction unit 106 changes the image reading position of an image sensor such as a CCD based on the blur correction value output from the microcomputer 105, and electronically corrects image blur caused by camera shake during shooting.

  The blur correction unit 106 is caused by a camera shake at the time of photographing by a shift lens that drives a part of the imaging optical system in a direction perpendicular to the optical axis by a drive circuit based on the blur correction value and deflects a passing light beam. Image blur may be optically corrected.

  Further, the blur correction unit 106 changes the vertical angle (VAP) of the variable apex angle prism provided in the optical path based on the blur correction value, and deflects the passing light beam, thereby generating a camera shake during photographing. Image blurring may be corrected optically.

  FIG. 2 is a block diagram showing an internal configuration of the microcomputer 105 in FIG.

  In FIG. 2, the microcomputer 105 includes an A / D converter 201, a first HPF 202, a phase compensation circuit 203, a second HPF 204, and an integration circuit 205. The microcomputer 105 includes a high-order LPF 207, a frequency detection unit 208, a stationary state determination unit 209, and a shooting state determination unit 210.

  The A / D converter 201 converts the angular velocity signal that is an analog signal output from the LPF 104 into a digital signal. The first HPF 202 removes a direct current component from the digitized angular velocity signal output from the A / D converter 201.

  The phase compensation circuit 203 compensates for the phase lag of the blur correction system, and sets the phase characteristics of the angular velocity signal output from the first HPF 202 using a phase advance element.

  The second HPF 204 extracts a predetermined frequency component from the angular velocity signal output from the phase compensation circuit 203.

  The integration circuit 205 integrates a signal having a predetermined frequency component output from the second HPF 204 to obtain an angular displacement signal.

  The shooting state determination unit 210 determines a shooting state such as pan / tilt from the angular velocity signal output from the phase compensation circuit 203 and the angular displacement signal output from the integration circuit 205. Based on this determination result, a coefficient for setting the characteristic of the cutoff frequency (cutoff frequency) of the second HPF 204 is read from table data prepared in advance in the microcomputer 105. By changing the characteristic of the second HPF 204 based on the read coefficient, the output characteristic at the time of panning or tilting can be arbitrarily set.

  The integration circuit 205 integrates the signal output from the second HPF 204 based on the output characteristics set in this way, and generates a shake correction signal proportional to the angular displacement signal.

  The high-order LPF 207 removes a noise waveform from the digitized angular velocity signal output from the A / D converter 201. The frequency detection unit 208 detects the frequency of the angular velocity signal output from the high-order LPF 207. The stationary state determination unit 209 determines the stationary state based on the frequency output from the frequency detection unit 208.

  FIG. 3 is a flowchart of the stationary state determination process executed by the microcomputer 105 of FIG.

  In FIG. 3, first, the blur detection sensor 101 detects vibration of the imaging device 100 and outputs it as an angular velocity signal. The high-order LPF 207 removes a noise waveform from the angular velocity signal digitized by the A / D converter 201. As a result, vibrations due to other mechanisms in the imaging apparatus 100 are removed from the angular velocity signal (step S601).

  Next, the frequency detection unit 208 detects the frequency of the angular velocity signal output from the high-order LPF 207. The stationary state determination unit 209 determines whether or not the frequency output from the frequency detection unit 208 is equal to or less than a predetermined value (step S602).

  As a result of the determination, when the frequency output from the frequency detection unit 208 exceeds a predetermined value, the imaging state determination unit 210 returns to step S601. On the other hand, when the frequency output from the frequency detection unit 208 is equal to or lower than the predetermined value, the characteristic of the second HPF 204 is switched to the characteristic in the stationary state (step S603), and this process ends.

  According to the processing in FIG. 3, the high-order LPF 207 removes the noise waveform from the angular velocity signal digitized by the A / D converter 201 (step S601). It is possible to significantly suppress a malfunction such as moving an image despite being stationary, and to realize a highly accurate and highly stable blur correction.

  For example, in a video camera equipped with a DVD (Digital Versatile Disk) drive, the rotational drive frequency of the DVD drive is 28 to 46 Hz. The band to be corrected as blur is 1 to 20 Hz, and this band is close to the rotational drive frequency of the DVD drive. Although the video main body is in a stationary state, if the frequency detection unit 208 erroneously detects vibration due to the rotational drive frequency of the DVD drive and the stationary state determination unit 209 determines that the device is not in a stationary state, a malfunction occurs.

  Therefore, if three stages of secondary LPFs with a cutoff frequency of the high-order LPF 207 of 25 Hz are set, the gain characteristics in the vicinity of 25 Hz are about 0.1 times the gain of the closest frequency (20 Hz) to be corrected. It becomes. Thus, the actual blur frequency of the video camera can be detected without erroneously detecting the vibration of the rotational drive band of the DVD drive by the frequency detection unit 208.

  When the stationary state determination unit 209 determines that the device body is stationary, the low frequency component is cut by switching the cutoff frequency of the second HPF 204 to the high frequency component. This narrows the blur correction band and prevents response to vibrations from other mechanisms in the video camera, electrical noise, drift components due to sensor characteristics, etc., and ensures system stability. be able to.

  Note that the first HPF 202, the phase compensation circuit 203, the second HPF 204, and the integration circuit 205 need to have a relatively high sampling frequency (for example, 1 [kHz]) in order to increase the correction accuracy. On the other hand, the high-order LPF 207, the shooting state determination circuit 210, and the frequency detection unit 208 may have a relatively low sampling frequency (for example, 100 Hz). In particular, since the high-order LPF 207 has a large processing load on the microcomputer 105, the sampling frequency may be set low in order to reduce the processing load.

[Second Embodiment]
FIG. 4 is a block diagram showing an internal configuration of the microcomputer 105 of the imaging apparatus according to the second embodiment of the present invention.

  The configuration of FIG. 4 is basically the same as the configuration of FIG. 2, the same components as those of FIG. 2 are denoted by the same reference numerals, description thereof is omitted, and only the components different from FIG.

  In FIG. 4, the microcomputer 105 has an amplitude detector 211.

  The high-order LPF 207 removes a noise waveform from the digitized angular velocity signal output from the A / D converter 201. The amplitude detector 211 detects the amplitude of the angular velocity signal output from the high-order LPF 207. The stationary state determination unit 209 determines the stationary state based on the amplitude output from the frequency detection unit 208.

  FIG. 5 is a flowchart of the stationary state determination process executed by the microcomputer 105 of FIG.

  In FIG. 5, first, the blur detection sensor 101 detects vibration of the imaging device 100 and outputs it as an angular velocity signal. The high-order LPF 207 removes a noise waveform from the angular velocity signal digitized by the A / D converter 201. As a result, vibrations due to other mechanisms in the imaging apparatus 100 are removed from the angular velocity signal (step S701).

  Next, the amplitude detector 211 detects the amplitude of the angular velocity signal output from the high-order LPF 207. The stationary state determination unit 209 determines whether or not the amplitude output from the amplitude detection unit 211 is equal to or less than a predetermined value (step S702).

  As a result of the determination, when the amplitude output from the amplitude detector 211 exceeds a predetermined value, the process returns to step S701. On the other hand, when the amplitude output from the amplitude detection unit 211 is equal to or less than the predetermined value, the imaging state determination unit 210 switches the characteristic of the second HPF 204 to the characteristic in the stationary state (step S703), and ends this process. To do.

  According to the processing of FIG. 5, the high-order LPF 207 removes the noise waveform from the angular velocity signal digitized by the A / D converter 201 (step S701), so that the photographing apparatus detects the factor other than blurring. It is possible to significantly suppress a malfunction such as moving an image despite being stationary, and to realize a highly accurate and highly stable blur correction.

[Third Embodiment]
FIG. 6 is a block diagram showing an internal configuration of the microcomputer 105 of the imaging apparatus according to the third embodiment of the present invention.

  The configuration in FIG. 6 is basically the same as the configuration in FIG. 2, the same components as those in FIG. 2 are denoted by the same reference numerals, description thereof is omitted, and only the components different from those in FIG.

  In FIG. 6, the microcomputer 105 has a time measuring unit 212.

  The time measuring unit 212 measures the time after the stationary state determining unit 209 determines that the stationary state is present.

  FIG. 7 is a flowchart of a stationary state determination process executed by the microcomputer 105 of FIG.

  In FIG. 7, first, the blur detection sensor 101 detects vibration of the imaging device 100 and outputs it as an angular velocity signal. The high-order LPF 207 removes a noise waveform from the angular velocity signal digitized by the A / D converter 201. Thereby, vibrations due to other mechanisms in the imaging apparatus 100 are removed from the angular velocity signal (step S801).

  Next, the frequency detection unit 208 detects the frequency of the angular velocity signal output from the high-order LPF 207. The stationary state determination unit 209 determines whether or not the frequency output from the frequency detection unit 208 is equal to or less than a predetermined value (step S802).

  As a result of the determination, when the frequency output from the frequency detection unit 208 exceeds a predetermined value, the process returns to step S801. On the other hand, when the frequency output from the frequency detection unit 208 is equal to or lower than the predetermined value, the time measurement unit 212 starts time measurement (step S803).

  Next, it is determined whether or not a predetermined time has elapsed since it was determined that the frequency is less than or equal to a predetermined value (step S804), and a predetermined time has elapsed since the frequency was determined to be less than or equal to the predetermined value. If it is inside, the process returns to step S801.

  On the other hand, as a result of the determination in step S804, when a predetermined time has elapsed since it was determined that the frequency is equal to or lower than the predetermined value, the shooting state determination unit 210 switches the characteristic of the second HPF 204 to the characteristic in the stationary state. (Step S805), the process is terminated.

  According to the process of FIG. 7, according to the process of FIG. 3, the high-order LPF 207 removes the noise waveform from the angular velocity signal digitized by the A / D converter 201 (step S801). By detecting this, it is possible to significantly suppress a malfunction such as moving an image even when the photographing apparatus is stationary, and to achieve highly accurate and highly stable blur correction.

[Fourth Embodiment]
FIG. 8 is a block diagram showing an internal configuration of the microcomputer 105 of the imaging apparatus according to the fourth embodiment of the present invention.

  The configuration in FIG. 8 is basically the same as the configuration in FIG. 2, the same components as those in FIG. 2 are denoted by the same reference numerals, description thereof is omitted, and only the components different from those in FIG.

  In FIG. 8, the microcomputer 105 has a variable amplifier circuit 213.

  The variable amplifier circuit 213 amplifies the angular velocity signal output from the first HPF 202 with an arbitrary amplification factor.

  FIG. 9 is a flowchart of the stationary state determination process executed by the microcomputer 105 of FIG.

  In FIG. 9, first, the blur detection sensor 101 detects vibration of the imaging device 100 and outputs it as an angular velocity signal. The high-order LPF 207 removes a noise waveform from the angular velocity signal digitized by the A / D converter 201. Thereby, vibrations due to other mechanisms in the imaging apparatus 100 are removed from the angular velocity signal (step S901).

  Next, the frequency detection unit 208 detects the frequency of the angular velocity signal output from the high-order LPF 207. The stationary state determination unit 209 determines whether or not the frequency output from the frequency detection unit 208 is equal to or less than a predetermined value (step S902).

  As a result of the determination, when the frequency output from the frequency detection unit 208 exceeds a predetermined value, the shooting state determination unit 210 returns to step S901. On the other hand, when the frequency output from the frequency detection unit 208 is equal to or lower than the predetermined value, the gain of the variable amplifier 213 is decreased (step S903), and this process is terminated. By reducing the gain of the variable amplifier 213, the angular velocity signal can be weakened to approach the correction center value.

  According to the processing of FIG. 9, the high-order LPF 207 removes the noise waveform from the angular velocity signal digitized by the A / D converter 201 (step S901), so that the photographing apparatus detects the factor other than blurring. It is possible to significantly suppress a malfunction such as moving an image despite being stationary, and to realize a highly accurate and highly stable blur correction.

  The first to fourth embodiments of the method for determining the stationary state of the imaging apparatus have been described above. However, the present invention is not limited to these, and various modifications can be made without departing from the content thereof. Needless to say.

  For example, in the third and fourth embodiments, the stationary state may be determined using the detection value of the amplitude detection unit 211 instead of the detection value of the frequency detection unit 208. Alternatively, the stationary state may be determined using the detection values of both the frequency detection unit 208 and the amplitude detection unit 211.

  Another object of the present invention is to supply a storage medium storing software program codes for realizing the functions of the embodiments to a system or apparatus, and the computer (or CPU, MPU, etc.) of the system or apparatus stores the storage medium. It is also achieved by reading out and executing the program code stored in.

  In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the program code and the storage medium storing the program code constitute the present invention.

  Examples of the storage medium for supplying the program code include a floppy (registered trademark) disk, a hard disk, a magneto-optical disk, a CD-ROM, a CD-R, a CD-RW, a DVD-ROM, a DVD-RAM, and a DVD. -RW, DVD + RW, magnetic tape, nonvolatile memory card, ROM, etc. can be used. Alternatively, the program code may be downloaded via a network.

  Further, by executing the program code read by the computer, not only the functions of the above-described embodiments are realized, but also an OS (operating system) running on the computer based on the instruction of the program code. This includes a case where part or all of the actual processing is performed and the functions of the above-described embodiments are realized by the processing.

  Further, after the program code read from the storage medium is written in a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer, the function expansion is performed based on the instruction of the program code. This includes a case where the CPU or the like provided in the board or the function expansion unit performs part or all of the actual processing and the functions of the above-described embodiments are realized by the processing.

1 is a block diagram schematically showing an internal configuration of an imaging apparatus according to a first embodiment of the present invention. It is a block diagram which shows the internal structure of the microcomputer in FIG. It is a flowchart of the stationary state determination process performed by the microcomputer of FIG. It is a block diagram which shows the internal structure of the microcomputer of the imaging device which concerns on the 2nd Embodiment of this invention. It is a flowchart of the stationary state determination process performed by the microcomputer of FIG. It is a block diagram which shows the internal structure of the microcomputer of the imaging device which concerns on the 3rd Embodiment of this invention. It is a flowchart of the stationary state determination process performed by the microcomputer of FIG. It is a block diagram which shows the internal structure of the microcomputer of the imaging device which concerns on the 4th Embodiment of this invention. It is a flowchart of the stationary state determination process performed by the microcomputer of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Imaging device 101 Shake detection sensor 105 Microcomputer 106 Shake correction part 201 A / D converter 204 2nd HPF
207 Higher order LPF
208 Frequency detection unit 209 Still state determination unit

Claims (17)

An imaging device that captures an image by capturing a subject,
Vibration detecting means for detecting vibration of the imaging device;
Correction means for correcting the movement of the acquired image based on a predetermined correction value;
Arithmetic means for calculating the predetermined correction value based on the vibration detected by the vibration detection means and a predetermined arithmetic coefficient;
Extraction means for extracting vibrations of a predetermined band from vibrations detected by the vibration detection means;
Determination means for determining a stationary state of the imaging device based on vibration of a predetermined band extracted by the extraction means;
An image pickup apparatus comprising: control means for changing the predetermined calculation coefficient when the determination means determines that the image pickup apparatus is in a stationary state.   The imaging apparatus according to claim 1, wherein the extraction unit extracts the vibration in the predetermined band by a control order of second order or higher.   The imaging apparatus according to claim 1, wherein the blur calculation unit and the extraction unit sample vibrations detected from the vibration detection unit at different control periods.   The determination unit includes a frequency detection unit that detects a frequency based on vibration of a predetermined band extracted by the extraction unit, and determines a stationary state of the imaging apparatus based on the detected frequency. The imaging device according to any one of claims 1 to 3.   The determination unit includes an amplitude detection unit that detects an amplitude based on vibration of a predetermined band extracted by the extraction unit, and determines a stationary state of the imaging device based on the detected amplitude. The imaging device according to any one of claims 1 to 3.   The determination unit includes a time measurement unit that detects a time from when the imaging apparatus is determined to be in a stationary state, and changes a calculation coefficient of the calculation step when the time exceeds a predetermined time. The imaging apparatus according to any one of claims 1 to 5, wherein   The image pickup device has an image pickup surface having an image pickup surface larger than the image size of the acquired image, and the correction unit corrects the movement of the acquired image by selecting an image reading position from a pixel of the image pickup device. The image pickup apparatus according to claim 1, wherein the image pickup apparatus is an image pickup apparatus.   The imaging apparatus according to claim 1, wherein the correction unit corrects the movement of the acquired image by optically deflecting an optical axis. A method for controlling an imaging apparatus that captures an image by capturing a subject,
A vibration detecting step for detecting vibration of the control device;
A correction step of correcting the movement of the acquired image based on a predetermined correction value;
A calculation step of calculating the predetermined correction value based on the vibration detected in the vibration detection step and a predetermined calculation coefficient;
An extraction step of extracting a predetermined band of vibrations from the vibration detected in the vibration detection step;
A determination step of determining a stationary state of the control device based on the vibration of the predetermined band extracted in the extraction step;
And a control step of changing the predetermined calculation coefficient when it is determined in the determination step that the control device is in a stationary state.   The control method according to claim 9, wherein the extraction unit extracts the vibration in the predetermined band by a control order of second order or higher.   The control method according to claim 9 or 10, wherein the blur calculation step and the extraction step sample vibrations detected from the vibration detection step at different control periods.   The determination step includes a frequency detection step of detecting a frequency based on the vibration of the predetermined band extracted in the extraction step, and determining a stationary state of the control device based on the detected frequency. The control method according to any one of claims 9 to 11.   The determination step includes an amplitude detection step of detecting an amplitude based on the vibration of the predetermined band extracted in the extraction step, and determining a stationary state of the control device based on the detected amplitude. The control method according to any one of claims 9 to 11.   The determination step includes a time measurement step of detecting a time after it is determined that the control device is in a stationary state, and changes the calculation coefficient of the calculation step when the time reaches a predetermined time or more. The control method according to claim 9, wherein:   An image pickup device having an image pickup surface larger than an image size of the acquired image; and the correction step corrects the movement of the acquired image by selecting an image reading position from a pixel of the image pickup device. The control method according to any one of claims 9 to 14, wherein:   15. The control method according to claim 9, wherein the correcting step corrects the movement of the acquired image by optically deflecting an optical axis. A program that is executed by an imaging device that captures an image by capturing a subject,
A vibration detection module for detecting vibration of the control device;
A correction module that corrects the movement of the acquired image based on a predetermined correction value;
An arithmetic module that calculates the predetermined correction value based on the vibration detected by the vibration detection module and a predetermined arithmetic coefficient;
An extraction module for extracting vibrations of a predetermined band from vibrations detected by the vibration detection module;
A determination module for determining a stationary state of the control device based on vibrations of a predetermined band extracted by the extraction module;
And a control module that changes the predetermined calculation coefficient when the determination module determines that the control device is in a stationary state.

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