JP2010232731A - Movement correction device, and method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a movement correction device and a method thereof that can obtain a natural image free of an unnatural inclination of an image position when a continuous movement like a moving picture is detected and corrected. <P>SOLUTION: An image processor 10 to which the image movement correction device is applied includes a movement detection unit 13 which detects a movement between images succeeding with time, a rotation angle detection unit 14 which detects rotation angles when detected movements change in rotating direction, a history information saving unit 12b as a rotation angle storage unit which sequentially stores the rotation angles detected by the rotation angle detection unit, a center rotation angle detection unit 15 which calculates a center rotation angle in the center between a first rotation angle and a second rotation angle stored right before the first rotation angle among the rotation angles, stored in the history information saving unit 12b, when the rotating directions change, and a movement correction unit 16 which corrects the image at the first rotation angle based upon the center rotation angle calculated by the center rotation angle calculation unit. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a motion correction apparatus and method for obtaining a motion between images from a plurality of different image information and correcting the display position of the image from the motion information.

When shooting a moving image, for example, if the hand holding the camera is moved, the shot image becomes a blurred image. In addition, in a fixed camera installed outdoors or the like, the camera shakes due to wind or vibration, resulting in a blurred image.
As a method for detecting such a motion of an image and correcting it to an image with less blur, a block matching method (template matching method), a phase correlation method, and the like are known.

In recent years, this block matching method and phase correlation method have been used not only to correct blur (motion) in the vertical and horizontal directions, but also to correct motion by rotation to further improve accuracy. Yes.
For example, there is an image processing apparatus that uses a block matching method to correct not only the vertical and horizontal directions but also the movement by rotation.

As such an image processing apparatus, Patent Document 1 discloses the following technique. In the image processing apparatus, when motion correction by rotation is performed, first, a plurality of motion detection areas are selected for each of two images captured by the image sensor.
For each selected motion detection area, a motion vector between two images is calculated.
A rotation component is calculated using the calculated plurality of motion vectors, and a conversion opposite to the rotation component is performed on the second image. Further, the second image is changed by a certain step size and correlated with the first image.
Among them, the second image having the highest correlation is corrected as an output image.

In the case of the vertical direction and the horizontal direction, the amount of pixel shift between the two images is calculated by calculating the motion vector between the two images.
An area shifted by the calculated pixel shift amount is cut out from the camera shake correction area specified in the second image and output as an image in the second image output area.

WO2004-062270

However, when the motion is detected by comparing the first image and the second image and correction of the second image is performed as in Patent Document 1, it depends on the state of the first image. become.
For example, when shooting is performed from a state in which the camera is tilted, an image captured in this tilted state is the first image.
Since the motion up to the second image is detected and corrected based on the tilted first image, the output image may be tilted under the influence of the tilted first image. Is expensive.

  The present invention provides a motion correction apparatus and method capable of obtaining a natural image without an unnatural inclination of an image position when detecting and correcting a continuous motion such as a moving image. is there.

  A motion correction apparatus according to a first aspect of the present invention detects a motion detection unit that detects motion between temporally continuous images, and a rotation angle when the direction of rotation of the detected motion changes. Among the rotation angles when the rotation direction stored in the rotation angle storage unit changes, the rotation angle detection unit, the rotation angle storage unit that sequentially stores the rotation angles detected by the rotation angle detection unit, and the rotation angle stored in the rotation angle storage unit. A central rotation angle calculation unit that calculates a central rotation angle that is the center of the first rotation angle and the second rotation angle that is stored immediately before the first rotation angle, and is calculated by the central rotation angle calculation unit A motion correction unit that corrects an image at the first rotation angle based on the center rotation angle.

  Preferably, the rotation angle storage unit includes a first rotation angle storage unit and a second rotation angle storage unit, and the first rotation angle storage unit and the second rotation angle storage unit include: Among the detected movements, the rotation angle when the rotation direction is changed is alternately stored, and the center rotation angle calculation unit obtains the center rotation angle by the following formula.

但し、ｍは第１の回転角度憶部または第２の回転角度記憶部に記憶された回転角度の個数、ｆ(ｎ)は第１の回転角度記憶部に記憶された回転角度、ｇ(ｎ)は第２の回転角度記憶部に記憶された回転角度、αは時間的な重み付け指数をそれぞれ示す。

Where m is the number of rotation angles stored in the first rotation angle storage unit or the second rotation angle storage unit, f (n) is the rotation angle stored in the first rotation angle storage unit, and g (n ) Represents a rotation angle stored in the second rotation angle storage unit, and α represents a temporal weighting index.

  A motion correction apparatus according to a second aspect of the present invention includes a motion detection unit that detects a motion between temporally continuous images, and a motion in a vertical direction or a horizontal direction among the detected motions in the motion state. Stored in the change position storage unit, the change position detection unit that detects the change position at the time of changing in the opposite direction, the change position storage unit that sequentially stores the change positions detected by the change position detection unit, and the change position storage unit. Center position that calculates the center position that is the center of the first change position and the second change position stored immediately before the first change position among the change positions when the movement direction changes A calculation unit; and a motion correction unit that corrects an image at the first change position based on the center position calculated by the center position calculation unit.

  A motion correction apparatus according to a third aspect of the present invention detects a motion detection step for detecting motion between temporally continuous images, and detects a rotation angle when the rotation direction of the detected motion changes. Of the rotation angle detection step, the rotation angle storage step for sequentially storing the rotation angles detected in the rotation angle detection step, and the rotation angle when the rotation direction stored in the rotation angle storage step changes, A center rotation angle calculating step for calculating a center rotation angle that is the center of the first rotation angle and the second rotation angle stored immediately before the first rotation angle, and the center rotation angle calculation step. And an image correction step of correcting an image at the first rotation angle based on the center rotation angle.

  A motion correction apparatus according to a fourth aspect of the present invention includes a motion detection step for detecting motion between temporally continuous images, and vertical or horizontal motion among the detected motions in the motion state. Stored in the change position detecting step for detecting the change position when changing in the opposite direction, the change position storing step for sequentially storing the change positions detected in the change position detecting step, and the change position storing step. Center position that calculates the center position that is the center of the first change position and the second change position stored immediately before the first change position among the change positions when the movement direction changes A calculation step; and an image correction step of correcting the image at the first change position based on the center position calculated by the center position calculation step.

  According to the present invention, it is possible to obtain a natural image without an unnatural inclination of an image position when detecting and correcting a continuous motion such as a moving image.

1 is a block diagram illustrating a configuration example of an image processing device employing an image motion correction device according to a first embodiment of the present invention. It is a block diagram which shows the structural example of a log | history information storage part as a rotation angle memory | storage part which concerns on the 1st embodiment. It is a figure for demonstrating the basic X-axis and Y-axis blur correction. It is a figure for demonstrating the blurring correction | amendment of a rotating shaft when a rotation center exists in a screen. It is a figure for demonstrating the blurring correction | amendment of a rotating shaft when a rotation center is not in a screen. It is a figure which shows the case where a photography start time is the center of blurring. It is a figure which shows the case where imaging | photography is started when the image inclines. It is a figure which shows the case where imaging | photography is started from the place shifted | deviated from the position to image | photograph. It is a figure which shows the case where a rotation center position (center angle) is calculated | required by the formula shown by Formula 6 with respect to the transition of the angle of a sine wave. It is a figure which shows the case where the frequency 3, 5, and 7 Hz are mixed, and the phase has shifted | deviated by (pi) / 6. It is a figure which shows the case where the angle | corner at the time of a photography start has remove | deviated from the rotation center with respect to the same waveform as FIG. It is a figure which shows the case where panning of a camera generate | occur | produced with the constant speed with respect to the same waveform as FIG. 4 is a flowchart for explaining an operation of the image processing apparatus according to the first embodiment. It is a block diagram which shows the structural example of the image processing apparatus which employ | adopted the image motion correction apparatus which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows the structural example of a log | history information storage part as a change position memory | storage part which concerns on the 2nd embodiment.

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

  FIG. 1 is a block diagram illustrating a configuration example of an image processing apparatus that employs an image motion correction apparatus according to a first embodiment of the present invention.

  The image processing apparatus 10 includes an image input unit 11, a storage unit 12, a motion detection unit 13, a rotation angle detection unit 14, a center rotation angle calculation unit 15, a motion correction unit 16, and an image output unit 17.

The image processing apparatus 10 has a function of detecting a continuous motion such as a moving image and performing a motion correction according to the motion detection result, and performs a natural image display without an unnatural tilt of the display position. It is configured to be possible.
The image processing apparatus 10 obtains a motion including a rotation angle between the images from different consecutive image information, and then stores the maximum value and the minimum value of the rotated angle as history information.
Then, the image processing apparatus 10 applies a temporal filter in which the degree of reflection of the rotation angle information obtained from a temporally new image among the maximum and minimum rotation angles stored as history information is increased. Thus, the rotation angle information has a function of obtaining an angle (rotation center angle) at which the image should be stopped and displayed.

  The image input unit 11 receives an input signal based on the captured image (video) and supplies the input image signal to the storage unit 12 and the image output unit 17.

  The storage unit 12 includes an image storage unit 12a and a history information storage unit 12b.

The image storage unit 12a sequentially stores the temporally continuous image data supplied from the image input unit 11 in units of frames, for example.
The image data stored in the image storage unit 12 a is read by the motion detection unit 13.

The history information storage unit 12b functions as a rotation angle storage unit, and stores, as history information, the rotation angle when the rotation direction of the detected movement detected by the rotation angle detection unit 14 changes.
The rotation angle information stored in the history information storage unit 12 b is read by the center rotation angle calculation unit 15.
As illustrated in FIG. 2, the history information storage unit 12 b includes a first rotation angle storage unit 121 and a second rotation angle storage unit 122.
The first rotation angle storage unit 121 and the second rotation angle storage unit 122 determine the rotation angle when the rotation direction is changed among the movements detected by the rotation angle detection unit 14 as the first rotation angle f (n ) And the second rotation angle g (n).

  The motion detection unit 13 detects a motion including the rotation angle between the current frame and the previous frame stored in the image storage unit 12 a of the storage unit 12 and supplies the detection result to the rotation angle detection unit 14.

  The rotation angle detection unit 14 detects the rotation angle when the rotation direction of the movement detected by the movement detection unit 13 changes as the first rotation angle and the second rotation angle, and the first rotation angle f. (N) and the second rotation angle g (n) are alternately output and stored in the first rotation angle storage unit 121 and the second rotation angle storage unit 122.

An example of the rotation angle detection process of the motion detection unit 13 is shown below.
In this movement amount and rotation angle detection process, for example, an Fourier image according to the following (Equation 2) is performed on an image in which a predetermined window function is set to obtain an amplitude image.

Then, the amplitude image obtained by the Fourier transform and expressed in the orthogonal coordinate system is converted into a polar coordinate system (log-polar). Converting to polar coordinates means performing complex logarithmic polar coordinates.
Further, the detection processing unit detects the amount of change between images based on θ and r converted to the polar coordinate system. At this time, the amount of change is detected when any of the operations of rotation, enlargement, and reduction is performed.

In the log-polar conversion processing, the pixel position Y (x, y) on the orthogonal coordinates is converted into polar coordinates θ, r and further logarithmically converted to obtain the coordinates Y (ρ, θ) after log-polar conversion.
The formula is shown below.

Therefore, it is possible to obtain the rotation angle of the image by obtaining the shift in the θ direction between the comparison target images in the detection process. Incidentally, enlargement / reduction can be obtained by obtaining the displacement in the r direction.
Then, among the obtained rotation angles, the rotation angles when the rotation direction changes are obtained as the first rotation angle and the second rotation angle, and the first rotation angle storage unit 121 of the history information storage unit 12b and It memorize | stores in the 2nd rotation angle memory | storage part 122 alternately.

The center rotation angle calculation unit 15 includes the first rotation angle among the rotation angles when the rotation direction stored in the first rotation angle storage unit 121 and the second rotation angle storage unit 122 changes, A center rotation angle that is the center of the second rotation angle stored immediately before the first rotation angle is calculated.
The central rotation angle calculation unit 15 stops and displays the image from the rotational movement amount data by applying a temporal filter in which the degree of reflection of the angle information obtained from the image at a new time is increased. Find the power angle (rotation center angle).

  The center rotation angle calculation part 15 calculates | requires the rotation angle used as a center by the following formula | equation.

  Where m is the number of rotation angles stored in the first rotation angle storage unit or the second rotation angle storage unit, f (n) is the rotation angle stored in the first rotation angle storage unit, and g (n ) Represents a rotation angle stored in the second rotation angle storage unit, and α represents a temporal weighting index.

  Based on the center rotation angle calculated by the center rotation angle calculation unit 15, the motion correction unit 16 shakes (moves) an image (moving image in the present embodiment) at the first rotation angle in the image output unit 17. Correct.

The image processing apparatus 10 having the above configuration uses a method of estimating the rotation center position from the history information of the movement of the rotation angle of the image.
Hereinafter, this method will be described in further detail.

Usually, in motion blur correction, when correcting motion in the X direction (horizontal direction or horizontal direction) and Y direction (vertical direction or vertical direction), basically, correction is performed around the position at the start of shooting. Just start.
In this case, as shown in FIG. 3, the reference position for correction may be the center position of the correctable range.
However, in the case of correcting the rotational movement amount, if the rotational blur is corrected around the position at the start of shooting, as shown in FIGS. In addition, since the correction is performed based on the image as it is, an unnatural image is displayed.
3 to 5, RIM represents a reference image area, and in FIGS. 4 and 5, VPST represents a vertical position of the image.

For example, in a surveillance camera, when the camera is installed on a vertically standing pole, the camera may shake due to wind or surrounding vibration.
In this case, it rotates repeatedly around the lower part of the image, but the position where the rotation should be stopped should be in the direction perpendicular to the ground.
However, if the correction is started in the state of being rotated with respect to the vertical direction at the start of shooting or the start of blur correction, the shifted position is corrected based on the reference, resulting in an unnatural image.

When the shooting start time is the center of blur, the image is not uncomfortable as shown in FIG. 6, but when shooting is started when the image is tilted, the tilted image is displayed as shown in FIG. Will be corrected with reference to.
Also, in the correction in the X direction and the Y direction, when shooting is started from a position deviated from the position to be shot, as shown in FIG. 8, the correction is performed based on an image in which a part of the subject OBJ is cut. Will end up.

Therefore, in the first embodiment, a method of estimating the rotation center position from the history information of the rotation angle movement is used.
As the history information, information of a portion indicating the maximum value and the minimum value of the angle obtained continuously is stored, and the rotation center position is estimated by applying a temporal filter there.

  The rotation center position to be obtained is D, the number of stored angle information is m, the stored angle information is changed from the latest in time to n = 1, 2, 3,... Enlarge. The filter expression in the center rotation angle calculation unit 15 when the maximum detection angle as the first rotation angle is f (n) and the minimum detection angle as the second rotation angle is g (n) is shown below. .

Here, the coefficient α is a coefficient that has been subjected to a temporal filter, and is a coefficient such that the sum of m times is 1. This coefficient is preferably weighted towards the latest time. Here, a case where α = 1 / ^{2n is} assumed as shown in the following formula, for example.

Here, the condition for obtaining the maximum detection angle f (n) and the minimum detection angle g (n) is when the direction in which the angle changes is changed.
That is, the maximum detected angle as the first rotation angle is the maximum angle value at the moment when the change in angle changes from the plus direction to the minus direction and the minimum angle value at the moment when the angle change changes from the minus direction to the plus direction. f (n) and the minimum detected angle g (n) as the second rotation angle are alternately stored in the first rotation angle storage unit 121 and the second rotation angle storage unit 122.

An example of applying such a filter is shown below.
FIG. 9 shows a case where the rotation center position (center angle) is obtained from the equation (6) with respect to the transition of the sine wave angle.
It can be seen that the center of rotation points to zero.
In FIG. 9, a sine wave is used as a typical example, but an actual blur waveform often includes various frequencies.

  As an example, FIG. 10 shows the case of a waveform in which frequencies 3, 5, and 7 Hz are mixed and the phase is shifted by π / 6. Even in the case of such a waveform, it can be seen that the center of rotation moves within a certain range.

  FIG. 11 shows a case where the angle at the start of photographing deviates from the rotation center with respect to the same waveform as FIG. Even in this case, it turns out that it has converged on the position which should become a rotation center.

  Next, FIG. 12 shows a case where panning of the camera occurs at a constant speed with respect to the same waveform as FIG. In this case, it can be seen that the rotation center position also moves in accordance with panning.

In the equation shown in Equation 5, the coefficient α is weighted toward the latest time, which is particularly effective in the case of such panning.
For example, if the coefficients are equalized regardless of the weighting time, the reflected angles of the detection angles of the new time and the old time will be the same, so the tracking of the center position when such panning occurs will be delayed. It will be.
Therefore, by giving weight to the latest time data, it is possible to smoothly follow the actual rotation center position.

  FIG. 13 is a flowchart for explaining the operation of the image processing apparatus according to the first embodiment.

Through the image input unit 11, temporally captured images (videos) are sequentially stored in the image storage unit 12a, for example, in units of frames (ST1, ST2). Of the two images to be compared, the first image (previous frame) is stored in step ST1, and the second image (current frame) is stored in step ST2.
The image data stored in the image storage unit 12 a is read by the motion detection unit 13.

The motion detection unit 13 detects a motion including the rotation angle between the current frame and the previous frame stored in the image storage unit 12 a of the storage unit 12, and supplies the detection result to the rotation angle detection unit 14.
The rotation angle detection unit 14 detects the rotation angles when the rotation direction of the motion detected by the motion detection unit 13 changes as the first rotation angle and the second rotation angle.
Then, the maximum angle value at the moment when the change in angle changes from the plus direction to the minus direction and the minimum angle value at the moment when the angle change changes from the minus direction to the plus direction are the maximum detection angle as the first rotation angle. f (n) and the minimum detected angle g (n) as the second rotation angle are alternately stored in the first rotation angle storage unit 121 and the second rotation angle storage unit 122 (ST3 to ST7). Unless the first rotation angle and the second rotation angle are detected, the process returns to step ST2, stores a new image (current frame) again, and repeats the processes of steps ST3 to ST7.

Next, in the center rotation angle calculation unit 15, the first rotation angle among the rotation angles when the rotation direction stored in the first rotation angle storage unit 121 and the second rotation angle storage unit 122 changes. A central rotation angle that is the center of the maximum detection angle f (n) as the minimum detection angle g (n) as the second rotation angle is calculated (ST8).
Then, in the motion correction unit 16, based on the center rotation angle calculated by the center rotation angle calculation unit 15, the image (moving image in the present embodiment) at the first rotation angle in the image output unit 17 is blurred. It is corrected (ST9).

As described above, according to the present embodiment, the image processing device 10 to which the image motion correction device is applied includes the motion detection unit 13 that detects the motion between temporally continuous images and the detected motion. And a rotation angle detector 14 that detects a rotation angle when the direction of rotation changes.
The image processing apparatus 10 includes a history information storage unit 12b as a rotation angle storage unit that sequentially stores the rotation angles detected by the rotation angle detection unit, and a rotating direction stored in the history information storage unit 12b. Among the rotation angles, a center rotation angle calculation unit 15 that calculates a center rotation angle that is the center of the first rotation angle and the second rotation angle stored immediately before the first rotation angle, And a motion correction unit 16 that corrects an image at the first rotation angle based on the center rotation angle calculated by the rotation angle calculation unit 15.
Therefore, according to the present embodiment, the following effects can be obtained.

That is, according to the present embodiment, after obtaining a movement amount including a rotation angle between images from information between different consecutive images, the angle (rotation) to stop and display the image from the rotation movement amount data. By obtaining the (center angle), it is possible to perform natural and unsharp image display without an unnatural tilt of the display position.
In addition, the maximum and minimum values of the rotated angle are saved as history information, and the degree of reflection of the angle information obtained from the image at a new time is increased, and a temporal filter is applied to make the natural fluctuation. It is possible to display an image without any image.
Further, by applying the image movement amount detection method of the present embodiment to a movement amount other than rotation, it is possible to perform image display with higher accuracy and without shaking.

  That is, in the present embodiment, the movement amount detection and correction of the rotational movement in the Z-axis direction with respect to the screen has been shown. However, this method is not limited to the rotation of the Z-axis, but the parallel movement of the X, Y, and Z axes. It can also be applied to the rotational movement of the X and Y axes.

  FIG. 14 is a block diagram illustrating a configuration example of an image processing apparatus employing the image motion correction apparatus according to the second embodiment of the present invention.

  The image processing apparatus 10A includes an image input unit 11, a storage unit 12, a motion detection unit 13, a change position detection unit 14A, a center position calculation unit 15A, a motion correction unit 16A, and an image output unit 17.

The difference between the image processing apparatus 10A of the second embodiment and the image processing apparatus 10 of the first embodiment is not the rotation angle but the detected movement in the Y direction (vertical direction) or the X direction (horizontal). The change position when the movement of (direction) changes in the direction opposite to the direction in the movement state is detected.
In the image processing apparatus 10A, the detected change positions are sequentially stored in the history information storage unit 12b as the change position storage unit.
As shown in FIG. 15, the history information storage unit 12b includes a first change position storage unit 121A and a second change position storage unit 122A, instead of the first and second rotation angle storage units. The
Then, the center position calculation unit 15A includes a first change position and a second change position stored immediately before the first change position among the change positions when the stored movement direction changes, The center position which becomes the center of is calculated.
At this time, the same equations shown in Equations 5 and 6 as in the case of the rotation angle can be similarly applied.
In this case, m is the number of change positions stored in the first change position storage unit or the second change position storage unit, f (n) is the change position stored in the first change position storage unit, and g ( n) is a change position stored in the second change position storage unit, and α is a temporal weighting index.
Finally, the motion correction unit 16A corrects the image at the first change position based on the center position calculated by the center position calculation unit 15A.

  According to the second embodiment, the same effect as that of the first embodiment described above can be obtained.

  DESCRIPTION OF SYMBOLS 10,10A ... Image processing apparatus, 11 ... Image input part, 12 ... Memory | storage part, 13 ... Motion detection part, 14 ... Rotation angle detection part, 14A ... Change position detection part , 15 ... center rotation angle calculation unit, 15A ... center position calculation unit, 16, 16A ... motion correction unit, 17 ... image output unit.

Claims (6)

A motion detector that detects motion between temporally continuous images;
A rotation angle detector that detects a rotation angle when the rotation direction of the detected movement changes; and
A rotation angle storage unit that sequentially stores the rotation angles detected by the rotation angle detection unit;
Of the rotation angles when the rotation direction stored in the rotation angle storage unit changes, the center of the first rotation angle and the second rotation angle stored immediately before the first rotation angle A center rotation angle calculation unit for calculating a center rotation angle to be
A motion correction unit that corrects an image at the first rotation angle based on the center rotation angle calculated by the center rotation angle calculation unit;
A motion compensation device. The rotation angle storage unit
Including a first rotation angle storage unit and a second rotation angle storage unit,
The first rotation angle storage unit and the second rotation angle storage unit are:
The motion correction apparatus according to claim 1, wherein among the detected movements, a rotation angle when the rotation direction changes is alternately stored, and the rotation angle serving as the center is obtained by the following expression.

Where m is the number of rotation angles stored in the first rotation angle storage unit or the second rotation angle storage unit, f (n) is the rotation angle stored in the first rotation angle storage unit, and g (n ) Represents a rotation angle stored in the second rotation angle storage unit, and α represents a temporal weighting index. A motion detector that detects motion between temporally continuous images;
A change position detection unit that detects a change position when the movement in the vertical direction or the horizontal direction among the detected movements changes in a direction opposite to the direction in the movement state;
A change position storage unit that sequentially stores change positions detected by the change position detection unit;
Of the change positions when the movement direction stored in the change position storage unit changes, the center of the first change position and the second change position stored immediately before the first change position, A center position calculation unit for calculating the center position,
A motion correction unit that corrects an image at the first change position based on the center position calculated by the center position calculation unit;
A motion compensation device. The change position storage unit
Including a first change position storage unit and a second change position storage unit,
The first change position storage unit and the second change position storage unit are:
Among the detected movements, the change position when the movement in the vertical direction or the horizontal direction changes in a direction opposite to the direction in the movement state is alternately stored, and the center position is obtained by the following formula. The motion correction device according to claim 3.

Here, m is the number of change positions stored in the first change position storage unit or the second change position storage unit, f (n) is the change position stored in the first change position storage unit, and g (n ) Indicates a change position stored in the second change position storage unit, and α indicates a temporal weighting index. A motion detection step for detecting motion between temporally continuous images;
A rotation angle detection step of detecting a rotation angle when the rotation direction of the detected movement changes; and
A rotation angle storage step for sequentially storing the rotation angles detected in the rotation angle detection step;
Of the rotation angles when the rotation direction stored in the rotation angle storage step changes, the center of the first rotation angle and the second rotation angle stored immediately before the first rotation angle A center rotation angle calculating step for calculating a center rotation angle to be
An image correction step of correcting an image at the first rotation angle based on the center rotation angle calculated by the center rotation angle calculation step;
A motion correction method. A motion detection step for detecting motion between temporally continuous images;
A change position detection step of detecting a change position when the movement in the vertical direction or the horizontal direction among the detected movements changes in a direction opposite to the direction in the movement state;
A change position storage step for sequentially storing the change positions detected in the change position detection step;
Of the change positions when the movement direction stored in the change position storage step changes, the center of the first change position and the second change position stored immediately before the first change position, A center position calculating step for calculating a center position,
An image correction step of correcting an image at the first change position based on the center position calculated by the center position calculation step;
A motion correction method.

Images