JP2015227903A - Image tremor correction device, imaging device and image tremor correction method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a success rate of panning photograph, and to reduce a degree of technical difficulty of the panning photograph.SOLUTION: An image tremor correction device comprises: an image pickup element that photoelectrically converts a subject image formed by an optical system; first, second and third panning detection units that detect first, second and third panning photographs on the basis of detection results of the first, second and third panning detection units; an image tremor-amount calculation unit that detects first, second and third amounts of image tremor on the basis of detection results of first, second and third angular velocity detection units; a first image tremor correction unit that moves the optical system or image pickup element in a direction where the first and second amounts of image tremor are cancelled out; and a third image tremor correction unit that moves the image pickup element in a direction where the third amount of image tremor is cancelled out. When the third panning photograph is detected, and when the first panning photograph is detected or the second panning photograph is detected, the second image tremor correction unit is configured to move the image pickup element.

Description

  The present invention relates to an apparatus and method for correcting image blur caused by camera shake or the like.

  In recent years, cameras having a camera shake correction function have become common. With such a camera, a photographer who performs hand-held shooting can shoot a good image without image blurring without paying special attention to camera shake.

  On the other hand, there is a shooting technique called panning as a camera shooting technique. This is a technique in which a photographer shoots while shaking the camera so as to follow a moving subject. According to this photographing technique, a moving subject is photographed without image blur, while a background of the subject is photographed so as to flow in accordance with the movement of the camera. As a result, the moving subject stands out, and the movement of the subject can be expressed.

  However, when a photographer performs a panning shot using a camera equipped with the above-described camera shake correction function, if the shot is taken while the camera shake correction function is enabled, the following problems occur: It is known that can occur. That is, when the photographer performs an operation of shaking the camera (for example, panning operation), the camera shake correction function of the camera determines that camera shake has occurred and performs camera shake correction. As a result, the photographed image becomes an image unintended by the photographer, such as image blurring in the background and image blurring in a moving subject.

  In order to solve such a problem, for example, a camera described in Patent Document 1 has been proposed. This camera includes a shake detection unit that detects a shake and outputs a shake detection signal, a correction optical system that corrects the shake, and a correction optical that drives the correction optical system based on the shake detection signal from the shake detection unit. It is determined by the panning determination unit that determines whether or not it is a panning shot by removing the high frequency component of the blur detection signal from the system drive unit and the blur detection unit, and the panning determination unit determines that the shot is a panning shot Sometimes, there is a configuration including switching means for cutting off a blur detection signal to the correction optical system driving unit in the panning direction. In this camera, for example, when the panning determination unit determines that the panning is a panning, the switching unit changes the camera shake prevention control in the direction in which the camera is shaken (horizontal or vertical) to prevent camera shake in the panning direction. The control is released.

JP-A-5-216104

  In the camera described in Patent Document 1, it is possible to prevent the camera shake correction from adversely affecting the panning, but the camera posture change in the rotation direction (roll direction) around the optical axis that may occur during panning. The accompanying image blur cannot be corrected. For example, when the photographer holds the camera in a handheld state and performs a panning operation or tilting operation with the axis perpendicular to the optical axis of the camera as the rotation direction, the posture change that actually occurs in the camera is In addition to the rotation direction that can be detected by the above-described camera, a posture change in the rotation direction around the optical axis may also occur. Therefore, in the panning, the photographer is still required to have an advanced photographing technique for shaking the camera in accordance with a moving subject so that image blurring does not occur.

  Based on the above situation, the present invention improves the success rate of panning shots by switching the camera shake correction control in the rotation direction around the optical axis according to the direction in which the camera is shaken, and the technical difficulty of panning shots. An object of the present invention is to provide an image blur correction device, an imaging device, and an image blur correction method capable of reducing the degree of image blur.

  According to a first aspect of the present invention, there is provided an optical system that forms a subject image, an image sensor that photoelectrically converts the subject image formed by the optical system, and a first direction on the image pickup surface of the image sensor. A first angular velocity detection unit that detects a rotational angular velocity with a rotation axis; a second angular velocity detection unit that detects a rotation angular velocity with a second direction orthogonal to the first direction as a rotation axis; and the imaging device A third angular velocity detector that detects a rotational angular velocity with the optical axis direction orthogonal to the imaging surface as a rotation axis, and a first sink based on the rotational angular velocity detected by the first angular velocity detector A first panning detection unit that detects a shooting, a second panning detection unit that detects a second panning based on the rotational angular velocity detected by the second angular velocity detection unit, and the third Based on the rotational angular velocity detected by the angular velocity detector, A third panning detection unit that detects a panning shot of the image, a first image blur amount based on the rotational angular velocity detected by the first angular velocity detection unit, and a rotational angular velocity detected by the second angular velocity detection unit An image blur amount calculation unit that calculates a second image blur amount based on the third image blur amount based on the rotational angular velocity detected by the third angular velocity detection unit, and the first image blur amount and A first image blur correction unit that moves the optical system or the image sensor in a direction in which the first image blur amount and the second image blur amount are canceled based on the second image blur amount; A second image blur correction unit that moves the image sensor in a direction in which the third image blur amount is canceled based on the third image blur amount, and detects the third panning shot. The third panning shot is detected by the unit, When the first panning detection is detected by the first panning detection unit or when the second panning detection is detected by the second panning detection unit, Provided is an image blur correction device that causes the image sensor to move by an image blur correction unit.

  According to a second aspect of the present invention, in the first aspect, the third panning shot detection unit detects the third panning shot, and the first panning detection unit If the first panning shot is not detected and the second panning shot detection unit does not detect the second panning shot, the second image blur correction unit moves the image sensor. Provided is an image blur correction device that is not performed.

According to a third aspect of the present invention, there is provided an imaging apparatus including the image blur correction device according to the first or second aspect.
According to a fourth aspect of the present invention, there is provided a first angular velocity detection step of detecting a rotational angular velocity having a first direction on an imaging surface of an imaging element that photoelectrically converts an object image formed by an optical system as a rotation axis; A second angular velocity detecting step for detecting a rotational angular velocity having a second direction orthogonal to the first direction as a rotation axis, and an optical axis direction that is a direction orthogonal to the imaging surface of the image sensor as a rotation axis. A third angular velocity detecting step for detecting the rotational angular velocity, a first panning detection step for detecting a first panning based on the rotational angular velocity detected by the first angular velocity detecting step, and the second A second panning detection step for detecting a second panning based on the rotational angular velocity detected by the angular velocity detection step, and a third sink based on the rotational angular velocity detected by the third angular velocity detection step. The third sink to detect shooting A first image blur amount based on the rotational angular velocity detected by the first angular velocity detection step, a second image blur amount based on the rotational angular velocity detected by the second angular velocity detection step, and Based on the image blur amount calculating step for calculating the third image blur amount based on the rotational angular velocity detected by the third angular velocity detecting step, and on the first image blur amount and the second image blur amount. Based on the first image blur correction step of moving the optical system or the image sensor in the direction in which the first image blur amount and the second image blur amount are canceled, and the third image blur amount. And a second image blur correction step for moving the image sensor in a direction in which the third image blur amount is canceled, and the third panning detection is detected by the third panning detection step. And the first When the first panning shot is detected by the second panning detection step or when the second panning shot is detected by the second panning detection step, the second image blur correction step An image blur correction method for moving an image sensor is provided.

  According to the present invention, by switching the camera shake correction control in the rotation direction around the optical axis according to the direction in which the camera is shaken, it is possible to improve the success rate of panning and reduce the technical difficulty of panning. it can.

It is a figure explaining the direction of the camera concerning one embodiment. It is a figure which shows an example of the time change of the angular velocity of the rotation direction used as the main direction of a panning when a panning is performed using the camera which concerns on one Embodiment. It is a figure which shows the example of whole structure of the camera which concerns on one embodiment. It is a figure which shows the internal structural example of a blurring correction | amendment microcomputer. It is a figure which shows the internal structural example of a panning control part. It is a figure which shows the internal structural example of a panning detection part. It is a figure which shows the internal structural example of a reference | standard angular velocity calculation part. It is an example of the flowchart which shows the panning control operation | movement for 1 sequence performed with respect to a yaw direction and a pitch direction. It is an example of the flowchart which shows the panning control operation | movement for 1 sequence performed with respect to a roll direction. It is an example of the flowchart which shows a panning detection process (S103, S203).

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
First, the direction of the camera according to the present embodiment will be defined.
Note that the camera according to the present embodiment is an example of an image blur correction device or an imaging device including the image blur correction device according to the present invention.

FIG. 1 is a diagram for explaining the direction of the camera according to the present embodiment.
As shown in FIG. 1, in the camera 1 according to the present embodiment, the X direction, the Y direction, the Z direction, the pitch direction, the yaw direction, and the roll direction are as follows. Define.

  The left-right direction (horizontal direction) of the camera 1 is defined as the X direction. In the X direction, the right direction when the front of the camera 1 is viewed is the + (plus, positive) direction (+ X direction), and the left direction is the − (minus, negative) direction (−X direction). . Note that the X direction also corresponds to the left-right direction of an imaging surface of an imaging device described later.

  The vertical direction of the camera 1 is the Y direction. In the Y direction, the upper direction is defined as the + direction (+ Y direction), and the lower direction is defined as the − direction (−Y direction). Note that the Y direction also corresponds to the up and down direction of the imaging surface of the imaging element described later.

  Let the optical axis direction of the camera 1 be a Z direction. In the Z direction, the direction from the back to the front of the camera 1 is defined as a + direction (+ Z direction), and the direction from the front to the back of the camera 1 is defined as a − direction (−Z direction).

  The rotation direction with the X axis as the rotation axis is defined as the pitch direction. In the pitch direction, the left rotation toward the + X direction is defined as the + direction (+ pitch direction), and the right rotation toward the + X direction is defined as the − direction (−pitch direction).

  The rotation direction with the Y direction axis as the rotation axis is the yaw direction. In the yaw direction, the right rotation toward the + Y direction is defined as the + direction (+ yaw direction), and the left rotation toward the + Y direction is defined as the − direction (−yaw direction).

  The rotation direction with the axis in the Z direction as the rotation axis is the roll direction. In the roll direction, the left rotation toward the + Z direction is defined as the + direction (+ roll direction), and the right rotation toward the + Z direction is defined as the − direction (−roll direction).

In addition, since the positive / negative (+,-) of the direction defined in this way is dependent on the mounting direction of the angular velocity sensor mentioned later, of course, it is not limited to the above.
Next, in order to facilitate understanding of the configuration and operation of the camera 1 described below, an outline of part of the operation performed by the camera 1 will be described with reference to FIG.

  FIG. 2 is a diagram illustrating an example of a temporal change in angular velocity in the rotation direction that is the main direction of panning when panning is performed using the camera 1. The horizontal axis indicates time, and the vertical axis indicates the angular velocity in the rotational direction that is the main direction of panning. Here, as an example, the rotation direction that is the main direction of panning is described as the yaw direction.

  As shown in FIG. 2, when panning is performed by panning operation in the yaw direction, the angular velocity in the yaw direction generated in the camera 1 is zero when the angular velocity is zero (the camera 1 does not move in the yaw direction). Cause bias.

  In view of this, in the camera 1, detection of a panning shot is performed in the following manner using such a deviation in angular velocity. First, an angular velocity that cannot occur in normal hand-held shooting that is not panning is set in advance as a threshold value TH. Then, when the angular velocity detected by the camera 1 continues for a predetermined time and exceeds the threshold value TH, the start of panning is detected.

  In the example shown in FIG. 2, since the angular velocity exceeds the threshold value TH at the time t1, and the angular velocity continuously exceeds the threshold value TH from the time t1 to the time t2 after a predetermined time has elapsed, the start of the panning shot is started at the time t2. Is detected. Note that the period from time t1 to time t2 is a panning start detection period.

Thereafter, when the detected angular velocity reaches zero (zero crossing), the end of panning is detected.
In the example shown in FIG. 2, after time t2, the angular velocity reaches 0 at time t6, and the end of panning is detected. Note that the period from time t2 to time t6 is a panning detection period.

  In addition, the camera 1 performs other operations such as the following. For example, in the example shown in FIG. 2, when the start of panning is detected at time t2, the reference angular velocity is calculated between time t3 and time t4. The reference angular velocity is an average value of angular velocities detected between time t3 and time t4. Note that time t4 is an exposure start time, and time t3 is a time that is a predetermined time before time t4. Further, during the exposure period from time t4, which is the exposure start time, to time t5, which is the exposure end time, the reference angular velocity is maintained, and the difference between the reference angular velocity and the detected angular velocity is time-integrated. An image blur amount is calculated. In the example shown in FIG. 2, the shaded portion in the period from time t4 to time t5 corresponds to the calculated image blur amount. Then, image blur correction in the yaw direction is performed based on the image blur amount thus calculated. Details of the operation described with reference to FIG. 2 will be described later with reference to FIG.

Next, the configuration of the camera 1 will be described in detail with reference to FIGS.
FIG. 3 is a diagram illustrating an example of the overall configuration of the camera 1.
As shown in FIG. 3, the camera 1 includes an optical system 2, a focal plane shutter (hereinafter simply referred to as “shutter”) 3, an image sensor 4, a drive unit 5, a system controller 6, and angular velocity sensors 7 (7 a, 7 b, 7 c). ), A blur correction microcomputer 8, a release SW (Switch) 9, an EVF (Electronic View Finder) 10, and a memory card 11.

The camera 1 is a lens-integrated camera or a lens interchangeable camera.
The optical system 2 forms a light beam from the direction of the external optical axis as a subject image on the imaging surface of the imaging device 4.

The shutter 3 is disposed in front of the image sensor 4 and performs an open / close operation under the control of the system controller 6 to place the image sensor 4 in an exposure state or a light shielding state.
The image sensor 4 converts the subject image formed on the imaging surface into an electrical signal (photoelectric conversion) under the control of the system controller 6. The converted electrical signal is read out as a video signal by the system controller 6.

  The drive unit 5 has a configuration that supports the image sensor 4 and images in the horizontal direction (X direction) and the vertical direction (Y direction) with respect to the imaging surface of the image sensor 4 under the control of the blur correction microcomputer 8. The element 4 is translated. Further, the drive unit 5 rotates and moves the image sensor 4 under the control of the shake correction microcomputer 8. The drive unit 5 includes, for example, two motors for translating the image sensor 4 in the X direction or the Y direction, and a drive instruction for translating the image sensor 4 in the opposite direction to the two motors. , The image sensor 4 is rotated.

  The system controller 6 controls the overall operation of the camera 1. For example, the system controller 6 controls the image blur correction operation in cooperation with the blur correction microcomputer 8. Further, for example, the system controller 6 controls the operation of reading a video signal from the image sensor 4, converting it to a format that can be displayed on the EVF 10, and outputting it to the EVF 10. Further, for example, the system controller 6 controls the operation of reading a video signal from the image sensor 4 and recording it as a captured image in the memory card 11 in accordance with the shooting instruction notified by the release SW 9.

  The angular velocity sensor 7 is a sensor that detects a rotational motion associated with the posture change of the camera 1 and outputs the angular variation associated with the rotational motion to the shake correction microcomputer 8 as an angular velocity. Here, the Yaw angular velocity sensor 7a detects the angular velocity in the yaw direction, the Pitch angular velocity sensor 7b detects the angular velocity in the pitch direction, and the Roll angular velocity sensor 7c detects the angular velocity in the roll direction. The Yaw angular velocity sensor 7a, the Pitch angular velocity sensor 7b, and the Roll angular velocity sensor 7c are angular velocity sensors having the same configuration, but the directions of angular velocity to be detected are different depending on the mounting directions.

  Under the control of the system controller 6, the blur correction microcomputer 8 calculates the image blur amount from the output of the angular velocity sensor 7, and controls the drive unit 5 so as to move the image sensor 4 in the direction in which the image blur amount is canceled. To do. As a result, image blurring that may occur in the captured image can be prevented. Details of the blur correction microcomputer 8 will be described later with reference to FIG.

  The release SW 9 is an operation unit on which a user performs a shooting operation. The release SW 9 detects a half-pressed operation (1st release) and a fully-pressed operation (2nd release) of the release SW 9 by the user, and outputs a detection signal to the system controller 6. The 1st release corresponds to a shooting preparation instruction, and the 2nd release corresponds to a shooting instruction.

The EVF 10 includes a display element such as a liquid crystal panel or an organic EL (Electro-Luminescence) element, and displays an image or the like according to the video signal output from the system controller 6.
The memory card 11 is a non-volatile memory that can be attached to and detached from the camera 1 and records captured images and the like.

Although not shown, the camera 1 includes an operation unit such as a button or a switch other than the release SW 9, and receives other instructions from the user via the operation unit.
FIG. 4 is a diagram illustrating an internal configuration example of the shake correction microcomputer 8.

  As shown in FIG. 4, the blur correction microcomputer 8 includes a CPU (Central Processing Unit) 80, an ADC (Analog-to-digital converter) 81 (81a, 81b, 81c), an SIO (Serial Input / Output) 82, and The driver 83 (83a, 83b, 83c) is included. The CPU 80 is realized by executing internal firmware, and includes a reference calculation unit 84 (84a, 84b, 84c), a subtraction unit 85 (85a, 85b, 85c), a panning control unit 86, a shake correction unit 87, and A communication unit 88 is included.

  The ADC 81 acquires an analog signal that is an output signal of the angular velocity sensor 7 at a predetermined sampling rate and sequentially converts it into a digital signal. Here, the ADC 81a converts the output signal of the Yaw angular velocity sensor 7a into a digital signal, the ADC 81b converts the output signal of the Pitch angular velocity sensor 7b into a digital signal, and the ADC 81c converts the output signal of the Roll angular velocity sensor 7c into a digital signal. . In the ADC 81, the sampling rate is not particularly limited. For example, when the sampling rate is 1 kHz, an analog signal is converted into a digital signal at intervals of 1 ms. In general, the angular velocity can be accurately detected by increasing the sampling rate. However, since the processing load increases accordingly, an optimum sampling rate may be set in accordance with the required performance of the system.

  The reference calculation unit 84 calculates a reference value based on an angular velocity that is an output signal (digital signal) of the ADC 81. Here, the reference calculation unit 84a calculates a reference value in the yaw direction based on the Yaw angular velocity that is an output signal of the ADC 81a. Further, the reference calculation unit 84b calculates a reference value in the pitch direction based on the pitch angular velocity that is an output signal of the ADC 81b. Further, the reference calculation unit 84c calculates a reference value in the roll direction based on the Roll angular velocity that is an output signal of the ADC 81c. The reference value is a value corresponding to the angular velocity output from the ADC 81 when the camera 1 is stationary. Here, as an example, the reference value is the average value of the angular velocities output from the ADC 81 during a predetermined period, but the calculation method is not limited to this.

  The subtracting unit 85 subtracts the reference value calculated by the reference calculating unit 84 from the angular velocity sequentially output from the ADC 81. Here, the subtraction unit 85a subtracts the reference value in the yaw direction calculated by the reference calculation unit 84a from the Yaw angular velocity sequentially output from the ADC 81a. Further, the subtracting unit 85b subtracts the reference value in the pitch direction calculated by the reference calculating unit 84b from the Pitch angular velocity sequentially output from the ADC 81b. Further, the subtracting unit 85c subtracts the reference value in the roll direction calculated by the reference calculating unit 84c from the Roll angular velocity sequentially output from the ADC 81c. Note that the subtraction result of the subtracting unit 85 is a value having a sign, and this sign is handled as positive / negative information in the rotation direction of the detected angular velocity.

  The panning control unit 86 detects whether the camera 1 is in the panning state based on the subtraction result of the subtraction unit 85, and outputs an angular velocity for controlling the driving unit 5 according to the detection result. . The details of the panning control unit 86 will be described later with reference to FIG.

  Based on the angular velocity output from the panning control unit 86, the blur correction unit 87 calculates the amount of image blur that occurs on the imaging surface of the image sensor 4, and moves the image sensor 4 in the direction in which the image blur amount is canceled. An image blur correction amount is calculated. More specifically, with respect to the Yaw angular velocity output from the panning control unit 86, the angular change amount is calculated by time integration of the Yaw angular velocity, and the imaging element 4 is calculated from the angular change amount and the focal length of the optical system 2. An image blur amount generated on the imaging surface is calculated, and an image blur correction amount for translating the image sensor 4 in a direction in which the image blur amount is canceled is calculated. Similarly, the pitch angular velocity output from the panning control unit 86 is integrated with respect to time to calculate an angle change amount, and the image pickup device 4 captures an image from the angle change amount and the focal length of the optical system 2. An image blur amount generated on the surface is calculated, and an image blur correction amount for translating the image sensor 4 in a direction in which the image blur amount is canceled is calculated. Further, for the Roll angular velocity output from the panning control unit 86, the angle change amount is calculated by time integration, and the angle change amount is set as an image blur amount, and the image blur amount is canceled. An image blur correction amount for rotating the image sensor 4 is calculated. Note that various methods have already been proposed for calculating the image blur amount and the image blur correction amount. The blur correction unit 87 calculates the image blur amount and the image blur correction amount using a part of the method, and no further detailed description will be given here.

  The driver 83 outputs a drive signal corresponding to the image blur correction amount calculated by the blur correction unit 87 to the drive unit 5. Here, the driver 83 a outputs a drive signal corresponding to the image blur correction amount based on the Yaw angular velocity calculated by the blur correction unit 87 to the drive unit 5. In addition, the driver 83 b outputs a drive signal corresponding to the image blur correction amount based on the pitch angular velocity calculated by the blur correction unit 87 to the drive unit 5. In addition, the driver 83 c outputs a drive signal corresponding to the image blur correction amount based on the Roll angular velocity calculated by the blur correction unit 87 to the drive unit 5.

The SIO 82 is an interface for performing serial communication with the system controller 6.
The communication unit 88 communicates with the system controller 6 via the SIO 82. For example, the communication unit 88 sends and receives commands and the like necessary for controlling the shake correction microcomputer 8 to and from the system controller 6.

FIG. 5 is a diagram illustrating an internal configuration example of the panning control unit 86.
As shown in FIG. 5, the panning control unit 86 includes a panning detection unit 861 (861a, 861b, 861c), a reference angular velocity calculation unit 862, a subtraction unit 863 (863a, 863b), a logic unit 864, and a switching unit. 865.

  The panning detection unit 861 detects whether panning is being performed based on the input angular velocity, and if so, sets a panning detection flag (outputs a logic signal 1). Otherwise, the panning detection flag is cleared (logic signal 0 is output). Here, the Yaw panning detection unit 861a detects whether panning is being performed in the yaw direction based on the input Yaw angular velocity, and if it is detected, the yaw direction panning detection flag (hereinafter, referred to as “Yaw panning detection flag”). “Yaw panning detection flag” is set, and if not, the Yaw panning detection flag is cleared. In addition, the pitch panning detection unit 861b detects whether or not a pitch panning is being performed based on the input pitch angular velocity, and if it is detected, the pitch panning detection flag (hereinafter, “ “Pitch panning detection flag” is set, and if not, the Pitch panning detection flag is cleared. Further, the Roll shot detection unit 861c detects whether or not the roll direction shot is being performed based on the input Roll angular velocity, and if it is detected, the roll direction shot detection flag (hereinafter, “ "Roll panning detection flag" is set, and if not, the Roll panning detection flag is cleared. Details of the panning detection unit 861 will be described later with reference to FIG.

  The reference angular velocity calculation unit 862 calculates a reference angular velocity in the yaw direction (hereinafter referred to as “Yaw reference angular velocity”) when the Yaw panning detection flag is set. The reference angular velocity calculation unit 862 calculates a reference angular velocity in the pitch direction (hereinafter referred to as “Pitch reference angular velocity”) when the Pitch panning detection flag is set. The reference angular velocity is also an offset of the angular velocity. Details of the reference angular velocity calculation unit 862 will be described later with reference to FIG.

  The subtraction unit 863 subtracts the reference angular velocity calculated by the reference angular velocity calculation unit 862 from the input angular velocity. Here, the subtraction unit 863a subtracts the Yaw reference angular velocity calculated by the reference angular velocity calculation unit 862 from the input Yaw angular velocity. Further, the subtraction unit 863b subtracts the Pitch reference angular velocity calculated by the reference angular velocity calculation unit 862 from the input Pitch angular velocity. Thereby, the angular velocity in the yaw direction and the pitch direction to be corrected by the drive unit 5 is calculated.

  The logic unit 864 sets a panning effective flag when one or both of the Yaw panning detection flag and the Pitch panning detection flag are set (outputs a logic signal 1), and otherwise performs panning. The valid flag is cleared (logic signal 0 is output).

  The switching unit 865 outputs the output of the switching unit 865 as the input Roll angular velocity based on the output of the logic unit 864 (panning shot valid flag) and the detection result (Roll panning detection flag) of the Roll panning detection unit 861c. Or switch to 0.

FIG. 6 is a diagram illustrating an internal configuration example of the panning detection unit 861 (each of the panning detection units 861a, 861b, and 861c).
As illustrated in FIG. 6, the panning detection unit 861 includes a moving average unit 8611, a threshold comparison unit 8612, a time measuring unit 8613, a zero cross detection unit 8614, a panning detection flag generation unit 8615, and a limit detection unit 8616.

  The moving average unit 8611 calculates an average value of a plurality of angular velocities that have been continuously input. The panning detection unit 861 can be configured by omitting the moving average unit 8611. However, due to this, for example, the angular velocity due to various external factors such as an impact that may be generated when the shutter 3 is operated. Even when disturbance noise occurs in the output of the sensor 7, stable detection can be performed.

  The threshold comparison unit 8612 compares the calculation result (average value of angular velocity) of the moving average unit 8611 with a predetermined threshold TH, and determines whether the former exceeds the latter. Note that the threshold value TH is set to a value of an angular velocity, for example, about 10 deg / s, which cannot occur in normal handheld shooting. However, the threshold value TH may be a fixed value, or the value may be changed according to the focal length of the optical system 2 or the like. For example, when the threshold value TH is changed according to the focal length of the optical system 2, it is possible to detect a panning shot more suitable for the shooting angle of view.

  The time measuring unit 8613 measures a period during which the determination result that the calculation result of the moving average unit 8611 exceeds the threshold TH is continuously obtained by the threshold comparison unit 8612, and when the measurement period exceeds a predetermined period. Detects the start of panning.

  The zero-cross detection unit 8614 detects whether the calculation result (average value of the angular velocity) of the moving average unit 8611 has zero-crossed, and if it is detected, sets a zero-cross flag (outputs a logic signal 1), otherwise In this case, the zero cross flag is cleared (logic signal 0 is output). Here, when the sign of the average value of angular velocities is reversed or when the average value of angular velocities becomes zero, it is detected that zero crossing has occurred.

  The panning detection flag generation unit 8615 sets the panning detection flag when the timer 8613 detects the start of the panning (outputs a logic signal 1), and the zero detection flag is set or a limit detection unit. In response to the instruction 8616, the panning detection flag is cleared (logic signal 0 is output). As a result, the period during which the panning detection flag is set indicates that panning is being performed.

  The limit detection unit 8616 measures a period during which the panning detection flag is continuously set by the panning detection flag generation unit 8615, and if the period exceeds a predetermined period, the limit detection unit 8616 instructs the panning detection flag generation unit. Instructs to clear the panning detection flag. Thus, for example, even when an erroneous reference value is calculated by the reference calculation unit 84, it is possible to prevent the panning detection flag generation unit 8615 from erroneously continuing to set the panning detection flag. it can.

FIG. 7 is a diagram illustrating an internal configuration example of the reference angular velocity calculation unit 862.
As shown in FIG. 7, the reference angular velocity calculation unit 862 includes a moving average unit 8621 (8621a, 8621b).

  The moving average unit 8621 calculates an average value of a plurality of angular velocities that have been continuously input. Here, the moving average unit 8621a calculates the average value of the plurality of Yaw angular velocities that have been input most recently, and the moving average unit 8621b calculates the average value of the plurality of Pitch angular velocities that have been input most recently. calculate. However, the calculation by the moving average unit 8621a is performed only when both the Yaw panning detection flag and the correction start flag are set. The calculation by the moving average unit 8621b is performed only when both the pitch panning detection flag and the correction start flag are set. The correction start flag is set only when image blur correction is started, and the flag is cleared otherwise.

  In the moving average unit 8621, the plurality of angular velocities that have been continuously input most recently can be, for example, eight angular velocities, but are not limited to this number. Further, the process of the moving average unit 8621 is the same as the process of the moving average unit 8611 (see FIG. 6), and the number of the plurality of angular velocities that have been input most recently may be the same. However, it may be a different number.

  In the camera 1 configured as described above, the optical system 2 is an example of an optical system that forms a subject image. The image sensor 4 is an example of an image sensor that photoelectrically converts a subject image formed by an optical system. The Yaw angular velocity sensor 7a is an example of a first angular velocity detector that detects a rotational angular velocity having a first direction on the imaging surface of the imaging element as a rotation axis. The pitch angular velocity sensor 7b is an example of a second angular velocity detector that detects a rotational angular velocity having a second direction orthogonal to the first direction as a rotation axis. The Roll angular velocity sensor 7c is an example of a third angular velocity detection unit that detects a rotational angular velocity whose rotation axis is the optical axis direction that is a direction orthogonal to the imaging surface of the imaging element. The Yaw panning detection unit 861a is an example of a first panning detection unit that detects the first panning based on the rotational angular velocity detected by the first angular velocity detection unit. The pitch panning detection unit 861b is an example of a second panning detection unit that detects the second panning based on the rotational angular velocity detected by the second angular velocity detection unit. The Roll panning detection unit 861c is an example of a third panning detection unit that detects the third panning based on the rotational angular velocity detected by the third angular velocity detection unit. A part of the blur correction unit 87 includes a first image blur amount based on the rotational angular velocity detected by the first angular velocity detector, and a second image blur amount based on the rotational angular velocity detected by the second angular velocity detector. And an image blur amount calculating unit that calculates a third image blur amount based on the rotational angular velocity detected by the third angular velocity detecting unit. The other part of the blur correction unit 87 and the drive unit 5 are arranged in a direction in which the first image blur amount and the second image blur amount are canceled based on the first image blur amount and the second image blur amount. , A first image blur correction unit that moves the optical system or the image sensor, and a second image that moves the image sensor in a direction in which the third image blur amount is canceled based on the third image blur amount. It is an example of a shake correction unit.

Next, the operation of the camera 1 will be described in detail with reference to FIGS.
Here, as an example, a panning control operation performed in the image blur correction operation of the camera 1 will be described. This panning control operation is also an operation performed by the panning control unit 86 of the blur correction microcomputer 8. Here, the operation will be described separately for the operation in the yaw direction and the pitch direction and the operation in the roll direction. However, both operations are performed in parallel.

  FIG. 8 is an example of a flowchart illustrating a panning control operation for one sequence performed in the yaw direction and the pitch direction. Note that the operation for one sequence is repeatedly performed while the camera 1 is powered on, for example.

  As shown in FIG. 8, when this operation starts, in the panning control unit 86 of the blur correction microcomputer 8, each of the Yaw panning detection unit 861 a and the Pitch panning detection unit 861 b is input to the latest continuous. An average value of a plurality (for example, eight) of angular velocities is calculated (S101). More specifically, the Yaw panning detection unit 861a calculates the average value of the latest continuous (for example, eight) Yaw angular velocities that have been input. Further, the pitch panning detection unit 861b calculates the average value of the latest plurality (for example, eight) pitch angular velocities that have been input. It should be noted that the latest consecutive Yaw angular velocities that have been input are the angular velocities detected by the Yaw angular velocity sensor 7a converted into digital signals at a predetermined sampling rate by the ADC 81a, and further, the reference calculation unit 84a by the subtraction unit 85a. Is obtained by subtracting the reference value in the yaw direction calculated in advance. Similarly, the latest continuous pitch angular velocities that have been input are the angular velocities detected by the pitch angular velocity sensor 7b converted into digital signals at a predetermined sampling rate by the ADC 81b, and further, the reference calculation unit by the subtraction unit 85b. The pitch direction reference value calculated in advance by 84b is subtracted.

  Subsequently, each of the Yaw panning detection unit 861a and the Pitch panning detection unit 861b detects whether the average value of the angular velocities calculated in S101 has zero-crossed, and sets or clears the zero-cross flag according to the detection result. (S102). More specifically, the Yaw panning detection unit 861a detects whether the average value of the Yaw angular velocity calculated in S101 has zero-crossed, and according to the detection result, the yaw-direction zero-cross flag (hereinafter referred to as “Yaw zero-cross flag”). ) Is set or cleared. The pitch panning detection unit 861b detects whether the average value of the pitch angular velocity calculated in S101 has zero-crossed, and determines a zero-cross flag in the pitch direction (hereinafter referred to as a “pitch zero-cross flag”) according to the detection result. Set or clear. In S102, when the sign is different between the average value of angular velocities calculated in S101 and the average value of angular velocities calculated in the previous S101, or the average value of angular velocities calculated in S101 is 0. In some cases, it is detected that zero gloss has occurred and the zero cross flag is set. On the other hand, if not, the zero cross flag is cleared.

  Subsequently, each of the Yaw panning detection unit 861a and the Pitch panning detection unit 861b performs processing for detecting panning (S103). Details of the panning detection process will be described later with reference to FIG.

  Subsequently, the panning control unit 86 determines whether one or both of the Yaw panning detection unit 861a and the Pitch panning detection unit 861b have detected occurrence of a cause for clearing the panning detection flag (S104). . More specifically, the panning shot control unit 86 generates a cause for clearing the Yaw panning shot detection flag in the Yaw panning shot detection unit 861a, and generates a factor for clearing the Pitch panning shot detection flag in the Pitch panning shot detection unit 861b. It is determined whether one or both of these are detected. The cause of clearing the panning detection flag is when the zero cross flag is set, or when the period during which the panning detection flag is set exceeds a predetermined period (for example, 10 seconds).

  If the determination result in S104 is Yes, one or both of the Yaw panning detection unit 861a and the Pitch panning detection unit 861b clear the panning detection flag (S105). More specifically, when the occurrence of a clear factor of the Yaw panning shot detection flag in the Yaw panning shot detection unit 861a is detected, the Yaw panning shot detection unit 861a clears the Yaw panning shot detection flag. In addition, when the occurrence of the clear factor of the Pitch panning detection flag is detected in the Pitch panning detection unit 861b, the Pitch panning detection unit 861b clears the Pitch panning detection flag.

  On the other hand, if the determination result in S104 is No, or after S105, each of the Yaw panning detection unit 861a and the Pitch panning detection unit 861b holds the average value of the angular velocities calculated in S101 ( S106). More specifically, the Yaw panning detection unit 861a holds the average value of the Yaw angular velocity calculated in S101, and the Pitch panning detection unit 861b holds the average value of the Pitch angular velocity calculated in S101. Note that this holding configuration is realized by, for example, a ring buffer or the like, whereby a predetermined number of the latest average values of angular velocities are sequentially held.

  Subsequently, the panning control unit 86 determines whether the camera shake correction function (image blur correction function) of the camera 1 is set to be valid or invalid (S107). Whether the camera shake correction function is valid or invalid is set by a user operation (shooting condition setting operation) on the camera 1, and the operation is performed, for example, via a setting screen displayed on the EVF 10.

  If the determination result in S107 is valid, then the panning control unit 86 determines whether one or both of the Yaw panning detection unit 861a and the Pitch panning detection unit 861b are under panning detection. (S108). More specifically, the panning control unit 86 determines whether or not the Yaw panning detection unit 861a is detecting a panning shot in the yaw direction, and whether or not the Pitch panning detection unit 861b is detecting a panning shot in the pitch direction. Alternatively, it is determined whether or not the Yaw panning detection unit 861a is detecting a panning shot in the yaw direction and the Pitch panning detection unit 861b is detecting a panning shot in the pitch direction. Whether the panning shot is being detected is determined according to the panning detection flag. If the panning detection flag is set, it is determined that the panning is being detected, and the panning detection flag is set. If is cleared, it is determined that no panning is being detected.

  If the determination result in S108 is Yes, then the panning control unit 86 determines whether the image blur correction is starting or the image blur correction is in progress (S109). In this determination, when the determination in S109 is performed for the first time during the main operation (in which the operation for one sequence shown in FIG. 8 is repeatedly performed), it is determined that the image blur correction is started, and the second and subsequent times are performed. If it is detected, it is determined that image blur correction is in progress. Note that the case where the determination in S109 is performed for the first time corresponds to the case where the correction start flag is set, and the case where it is performed after the second time corresponds to the case where the correction start flag is cleared.

  If the determination result in S109 is the start of image blur correction, then the reference angular velocity calculation unit 862 calculates a reference angular velocity (S110). More specifically, the reference angular velocity calculation unit 862, when it is detected in S108 that the panning detection in the yaw direction is being detected, the Yaw reference angular velocity from the latest plural (for example, eight) Yaw angular velocities inputted. Is calculated. However, the reference angular velocity calculation unit 862 sets the Yaw reference angular velocity to 0 (clears) if it is not detected in S108 that the yaw direction panning is being detected. In addition, when it is detected in S108 that the panning detection in the pitch direction is being detected in S108, the reference angular velocity calculation unit 862 calculates the Pitch reference angular velocity from the latest plural (for example, eight) input Pitch angular velocities. To do. However, the reference angular velocity calculation unit 862 sets the pitch reference angular velocity to 0 (clears) if it is not detected in S108 that the panning detection in the pitch direction is being detected. In S110, the average value of the latest angular velocities held in S106 may be used as the calculated reference angular velocity.

  On the other hand, when the determination result in S108 is No, the reference angular velocity calculation unit 862 subsequently sets the reference angular velocity to 0 (clears) (S111). More specifically, the reference angular velocity calculation unit 862 sets the Yaw reference angular velocity and the Pitch reference angular velocity to zero.

  On the other hand, when the determination result in S109 is that image blur correction is in progress, after S110 or after S111, the subtraction unit 863 needs to subtract the reference angular velocity from the input angular velocity and correct the subtraction result. The angular velocity is output to the blur correction unit 87 (S112). More specifically, the subtracting unit 863a subtracts the Yaw reference angular velocity from the input Yaw angular velocity, and outputs the subtraction result to the shake correcting unit 87 as a Yaw angular velocity that needs to be corrected. Further, the subtracting unit 863b subtracts the Pitch reference angular velocity from the input Pitch angular velocity, and outputs the subtraction result to the shake correcting unit 87 as a Pitch angular velocity requiring correction. As a result, the blur correction unit 87 calculates the image blur amounts in the yaw direction and the pitch direction based on the Yaw angular velocity and the Pitch angular velocity calculated in S112, and the drive unit 5 cancels the image blur amounts. The translational movement of the image sensor 4 is performed in the direction in which the image sensor 4 is moved. More specifically, if panning is detected in S108, the processing in S110 and S112 does not correct even the image blur caused by the user intentionally shaking the camera 1 for the panning. In addition, the translational movement of the image sensor 4 is performed. On the other hand, when no panning is detected in S108, the image sensor 4 is translated so that image blur due to camera shake itself is corrected by the processing in S111 and S112.

On the other hand, when the determination result in S107 is invalid, or after S112, this operation for one sequence ends.
FIG. 9 is an example of a flowchart illustrating a panning control operation for one sequence performed in the roll direction. The operation for one sequence is also repeated while the camera 1 is powered on, for example.

  As shown in FIG. 9, when this operation is started, in the panning control unit 86 of the blur correction microcomputer 8, the Roll panning detection unit 861 c is inputted with the latest continuous plural (for example, eight) Roll angular velocities. Is averaged (S201). It should be noted that the latest continuous plurality of Roll angular velocities that have been inputted are converted from the angular velocities detected by the Roll angular velocity sensor 7c into digital signals at a predetermined sampling rate by the ADC 81c, and further, the reference calculator 84c by the subtractor 85c. Is obtained by subtracting the roll direction reference value calculated in advance.

  Subsequently, the Roll panning detection unit 861c detects whether the average value of the Roll angular velocity calculated in S201 has zero-crossed, and the zero-cross flag in the roll direction (hereinafter referred to as “Roll zero-cross flag”) according to the detection result. Is set or cleared (S202). In S202, when the sign is different between the average value of the Roll angular velocity calculated in S201 and the average value of the Roll angular velocity calculated in the previous S201, or the average value of the Roll angular velocity calculated in S201. Is zero, it is detected that zero gloss has occurred and the Roll zero cross flag is set. On the other hand, if not, the Roll zero cross flag is cleared.

Subsequently, the Roll panning detection unit 861c performs processing for detecting panning (S203). Details of the panning detection process will be described later with reference to FIG.
Subsequently, the panning shot control unit 86 determines whether or not the Roll panning shot detection unit 861c has detected occurrence of a clear cause of the Roll panning shot detection flag (S204). The cause of clearing the Roll shot detection flag is when the Roll zero cross flag is set or when the Roll shot detection flag is set for a predetermined period (for example, 10 seconds).

If the determination result in S204 is Yes, the Roll panning detection unit 861c clears the Roll panning detection flag (S205).
On the other hand, when the determination result in S204 is No, or after S205, the panning control unit 86 determines whether the camera shake correction function of the camera 1 is set to valid or invalid. (S206). This determination is the same as the determination in S107 of FIG.

  If the determination result in S206 is valid, then the panning control unit 86 determines whether or not the Roll panning detection unit 861c is detecting the panning in the roll direction (S207). Note that whether or not the roll shot is being detected is determined according to the Roll shot detection flag. If the Roll shot detection flag is set, the roll shot is being detected. If the Roll shot detection flag is cleared, it is determined that the roll direction shot is not being detected.

  If the determination result in S207 is Yes, then the panning control unit 86 determines whether one or both of the Yaw panning detection unit 861a and the Pitch panning detection unit 861b are under panning detection ( S208). This determination is the same as the determination in S108 of FIG.

  If the determination result in S208 is No, the blur correction microcomputer 8 subsequently determines whether it is the start of image blur correction or the image blur correction is in progress (S209). In this determination, when the determination of S209 is performed for the first time during the main operation (operation in which the operation for one sequence shown in FIG. 9 is repeatedly performed), it is determined that the image blur correction is started, and the second and subsequent operations are performed. If it is detected, it is determined that image blur correction is in progress.

  If the determination result in S209 is when image blur correction starts, then the panning control unit 86 fixes the output Roll angular velocity to 0 (S210). More specifically, the panning control unit 86 fixes the output of the switching unit 865 to 0 by switching the switching unit 865. As a result, in the shake correction unit 87, the image shake amount in the roll direction calculated based on the Roll angular velocity is also zero, and the rotational movement of the image sensor 4 by the drive unit 5 is not performed.

  On the other hand, if the determination result in S207 is No, or if the determination result in S208 is Yes, then the panning control unit 86 outputs the input Roll angular velocity as it is (S211). More specifically, the panning control unit 86 changes the output of the switching unit 865 to the input Roll angular velocity by switching the switching unit 865. As a result, the blur correction unit 87 calculates the image blur amount in the roll direction based on the Roll angular velocity, and the drive unit 5 rotates the image sensor 4 in the direction in which the image blur amount is canceled.

On the other hand, when the determination result of S206 is invalid, when the determination result of S209 is during image blur correction, the main operation for one sequence ends after S210 or after S211.
FIG. 10 is an example of a flowchart showing the panning detection process (S103, S203). In the panning detection process of S103, the process shown in FIG. 10 is performed in parallel for each of the yaw direction and the pitch direction, and in the panning detection process of S203, the process shown in FIG. The processing shown in is performed.

  As shown in FIG. 10, in this process, first, the panning control unit 86 determines whether or not panning is being performed (S301). Here, in the panning shot detection unit 861, it is determined that the panning shot detection flag is set, and it is determined that the panning shot is being performed. The

  If the determination result in S301 is No, then the panning control unit 86 determines whether or not the average value of the angular velocities calculated by the moving average unit 8611 exceeds the threshold value TH in the threshold value comparison unit 8612 (S302). ).

  When the determination result in S302 is Yes, the panning control unit 86 measures a period in which the average value of the angular velocities calculated by the moving average unit 8611 continuously exceeds the threshold value TH in the time measuring unit 8613 (S303). .

On the other hand, if the determination result in S302 is No, then the panning control unit 86 clears the measurement value (measured period) in the time measuring unit 8613 (S304).
After S303, the panning control unit 86 subsequently determines whether or not the measured value (measured period) exceeds a predetermined period in the time measuring unit 8613 (S305).

  If the determination result in S305 is Yes, then the panning control unit 86 sets the panning detection flag in the panning detection detection flag generation unit 8615 (S306), and the timekeeping unit 8613 measures the measured value (measured). (Period) is cleared (S307).

On the other hand, when S301 is Yes, after S304, when S305 is No, or after S307, this processing ends (returns).
As described above, according to the camera 1 according to the present embodiment, when the camera shake correction function is set to be effective, the panning in the roll direction is detected, and one of the yaw direction and the pitch direction is detected. Alternatively, when both panning shots are detected, image blur correction in the roll direction is performed. In such a case, it is considered that the user has erroneously caused a camera shake in the roll direction when performing general panning in the yaw direction or the roll direction. Therefore, in such a case, by performing image blur correction in the roll direction, image blur due to camera shake in the roll direction is corrected, and a captured image intended by the user is obtained. Be able to.

  Further, according to the camera 1 according to the present embodiment, when the camera shake correction function is set to be effective, the panning in the roll direction is detected, and both the yaw direction and the pitch direction are detected. When no panning shot is detected, image blur correction in the roll direction is not performed. In such a case, it is considered that the user is performing a panning shot in the roll direction. Therefore, in such a case, a captured image intended by the user can be obtained by preventing the image blur correction in the roll direction from being performed.

  As described above, according to the camera 1 according to the present embodiment, the success rate of panning is improved by switching the image blur correction control in the roll direction in accordance with the direction in which the panning is performed (the direction in which the camera 1 is shaken). The technical difficulty of panning can be reduced.

The camera 1 according to the present embodiment can be modified as follows.
For example, in the camera 1 according to the present embodiment, the image blur in the yaw direction and the pitch direction is corrected by the translational movement of the image sensor 4 by the drive unit 5. You may make it correct | amend by translation. In this case, a drive unit for translating the optical system 2 is newly provided, and a configuration for translating the image sensor 4 in the drive unit 5 is not necessary.

  As mentioned above, the embodiment described above shows a specific example of the present invention in order to facilitate understanding of the invention, and the present invention is not limited to the above-described embodiment. The present invention can be variously modified and changed without departing from the concept of the present invention defined in the claims.

DESCRIPTION OF SYMBOLS 1 Camera 2 Optical system 3 Focal plane shutter 4 Image pick-up element 5 Drive part 6 System controller 7 Angular velocity sensor 8 Shake correction microcomputer 9 Release SW
10 EVF
11 Memory card 80 CPU
81 ADC
82 SIO
83 driver 84 reference calculation unit 85 subtraction unit 86 panning control unit 87 shake correction unit 88 communication unit 861 panning detection unit 862 reference angular velocity calculation unit 863 subtraction unit 864 logic unit 865 switching unit 8611 moving average unit 8612 threshold comparison unit 8613 timing timer Unit 8614 zero cross detection unit 8615 panning detection flag generation unit 8616 limit detection unit 8621 moving average unit

Claims (4)

An optical system for forming a subject image;
An image sensor that photoelectrically converts a subject image formed by the optical system;
A first angular velocity detector that detects a rotational angular velocity with a first direction on the imaging surface of the imaging element as a rotation axis;
A second angular velocity detector that detects a rotational angular velocity with a second direction orthogonal to the first direction as a rotation axis;
A third angular velocity detector that detects a rotational angular velocity with the optical axis direction being a direction orthogonal to the imaging surface of the imaging element as a rotation axis;
A first panning detection unit that detects a first panning based on the rotational angular velocity detected by the first angular velocity detection unit;
A second panning detection unit that detects a second panning based on the rotational angular velocity detected by the second angular velocity detection unit;
A third panning detection unit for detecting a third panning based on the rotational angular velocity detected by the third angular velocity detection unit;
The first image blur amount based on the rotational angular velocity detected by the first angular velocity detector, the second image blur amount based on the rotational angular velocity detected by the second angular velocity detector, and the third angular velocity An image blur amount calculation unit for calculating a third image blur amount based on the rotational angular velocity detected by the detection unit;
Based on the first image blur amount and the second image blur amount, the optical system or the image sensor is moved in a direction in which the first image blur amount and the second image blur amount are canceled. A first image blur correction unit;
A second image blur correction unit that moves the image sensor in a direction in which the third image blur amount is canceled based on the third image blur amount;
With
The third panning detection unit detects the third panning shot and the first panning detection unit detects the first panning shot or the second When the second panning shot is detected by the panning shot detection unit, the image sensor is moved by the second image blur correction unit.
An image blur correction apparatus characterized by that. The third panning detection unit detects the third panning shot, and the first panning detection unit does not detect the first panning shot and the second If the second panning shot is not detected by the panning detection unit, the image sensor is not moved by the second image blur correction unit.
The image blur correction apparatus according to claim 1.   An imaging device comprising the image blur correction device according to claim 1. A first angular velocity detection step for detecting a rotational angular velocity about a first direction on an imaging surface of an imaging element that photoelectrically converts a subject image formed by an optical system as a rotation axis;
A second angular velocity detection step of detecting a rotational angular velocity having a second direction orthogonal to the first direction as a rotation axis;
A third angular velocity detecting step of detecting a rotational angular velocity having an optical axis direction which is a direction orthogonal to the imaging surface of the imaging element as a rotation axis;
A first panning detection step for detecting a first panning based on the rotational angular velocity detected by the first angular velocity detection step;
A second panning detection step for detecting a second panning based on the rotational angular velocity detected by the second angular velocity detection step;
A third panning detection step for detecting a third panning based on the rotational angular velocity detected by the third angular velocity detection step;
The first image blur amount based on the rotational angular velocity detected by the first angular velocity detection step, the second image blur amount based on the rotational angular velocity detected by the second angular velocity detection step, and the third angular velocity. An image blur amount calculating step for calculating a third image blur amount based on the rotational angular velocity detected by the detecting step;
Based on the first image blur amount and the second image blur amount, the optical system or the image sensor is moved in a direction in which the first image blur amount and the second image blur amount are canceled. A first image blur correction step;
A second image blur correction step of moving the image sensor in a direction in which the third image blur amount is canceled based on the third image blur amount;
With
When the third panning shot is detected by the third panning detection step, and when the first panning shot is detected by the first panning detection step, or the second When the second panning is detected by the panning detection process, the image sensor is moved by the second image blur correction process.
An image blur correction method characterized by the above.