JP6299188B2 - Blur correction device, lens barrel and camera - Google Patents

Description

  The present invention relates to a shake correction device, a lens barrel, and a camera.

There is a technique for performing optical camera shake correction based on a signal from an angular velocity sensor (gyro). In this technique, it is necessary to accurately obtain the reference value (gyro output value at 0 deg / s) of the angular velocity sensor, but the reference value of the angular velocity sensor changes depending on drift characteristics immediately after startup, temperature characteristics, and the like. It is difficult to find accurately.
Therefore, a technique has been proposed in which the output signal of the angular velocity sensor is calculated by LPF (low-pass filter) processing, and the reference value is corrected using the motion vector information.
In addition, center bias processing may be performed to prevent the blur correction lens from reaching the movable end. However, in Patent Document 1, the correction gain of the gyro reference value is changed according to the amount of the center bias. The technique to do is also proposed (refer patent document 1).

Japanese Patent No. 4360147

However, when the reference value is corrected using the motion vector information, the motion vector information can be obtained only during half-pressing, so that it is necessary to switch to normal reference value calculation during exposure.
For this reason, the reference value during exposure may be worse than that during half-pressing, and there is a problem that the effect of correcting the reference value is diminished.
An object of the present invention is to provide a shake correction device, a lens barrel, and a camera capable of correcting a reference value with high accuracy.

An image stabilization apparatus according to the present invention includes an optical system that receives light from a subject and forms an image of the subject, an image sensor that captures the image of the subject formed by the optical system, and an image of the subject image. A blur correction element that can be driven to correct blur, an angular velocity sensor that detects an angular velocity of an imaging apparatus including the optical system, and a reference that calculates a reference value of an output signal of the angular velocity sensor based on the output signal Before the operation of the value calculation unit and the operation unit instructing imaging, the correction reference value corrected using the motion vectors calculated from the plurality of images of the subject imaged before the operation of the operation unit and the angular velocity sensor The target position of the blur correction element is calculated based on the output signal, and after the operation of the operation unit , the corrected correction standard from before the operation unit is operated until the operation unit is operated Average value And it was configured to have a target position calculating section for calculating a target position of the blur correction element by the output signal of the angular velocity sensor.
An optical apparatus of the present invention captures an image of a subject formed by an optical system, an image sensor that can be driven to correct blur of the object image, and an angular velocity sensor that detects an angular velocity of the optical apparatus including the image sensor. A reference value calculation unit that calculates a reference value of an output signal of the angular velocity sensor, an operation unit that is operated to instruct an imaging operation, and a plurality of images that are captured by the image sensor before the operation unit is operated A reference value correction unit that corrects the reference value using a motion vector calculated from the subject image, and before operation of the operation unit, the reference value after correction and the output signal of the angular velocity sensor calculates a target position, after the operation of the operation unit, before a predetermined operation unit is operated time until the operation portion is operated, the average value and the angular velocity sensor of the reference value of the corrected The output signal And the target position calculating section for calculating a target position of the imaging element by,
It was set as the structure which has.

  According to the present invention, it is possible to provide a shake correction apparatus, a lens barrel, and a camera that are capable of correcting a reference value with high accuracy.

It is sectional drawing which shows typically a camera provided with the blurring correction apparatus of 1st Embodiment. It is a block diagram of the blurring correction apparatus of 1st Embodiment. It is the flowchart which showed the flow of operation | movement of the blurring correction apparatus of 1st Embodiment. It is a figure explaining a reference value calculating part, (a) is a reference value calculating part, (b) is a figure showing LPF of a reference value calculating part. It is a flowchart which shows a reference value correction calculation. The calculation result of the angular velocity reference value ω0 when the angular velocity (ω5) is added is shown. It is a graph which shows an angular velocity reference value waveform (while half-pressed) when focal lengths are different. It is the figure which showed the relationship between time T1 which acquires an average value, and a focal distance. It is the figure which showed the relationship between time T1 which acquires an average value, and resolution. It is the figure which showed the relationship between time T1 which acquires an average value, resolution | decomposability, and a focal distance. It is an example of a waveform when the reference value calculation is started at time t0.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings and the like.
FIG. 1 is a cross-sectional view schematically showing a camera 1 including the shake correction apparatus of the first embodiment.
The camera 1 is a digital single-lens reflex camera, and includes a camera housing 1A and a lens barrel (optical member) 1B that is detachably attached to the camera housing 1A.

  The camera housing 1A includes a camera CPU 2A, an image sensor 3, a recording medium 13, an EEPROM 14, a signal processing circuit 15, an AF sensor 16, a release switch 17, a rear liquid crystal 18, a mirror 19, a sub mirror 19a, and a shutter 20.

The camera CPU 2A is a central processing unit that performs overall control of the camera 1, and constitutes a part of the shake correction device of the present embodiment.
The imaging element 3 is an element that captures a subject image formed by the photographing lenses (4, 5, 6), exposes the subject light to convert it into an electrical image signal, and outputs it to the signal processing circuit 15. The image pickup device 3 is configured by an element such as a CCD or a CMOS.

The recording medium 13 is a medium for recording captured image data, and an SD card, a CF card, or the like is used.
The EEPROM 14 is a memory that stores adjustment value information such as the gain value of the angular velocity sensor 12, information unique to the lens barrel, and the like, and outputs the memory to the CPU 2.
The signal processing circuit 15 is a circuit that receives an output from the image sensor 3 and performs processing such as noise processing and A / D conversion.

The AF sensor 16 is a sensor for performing AF (automatic focus adjustment), and a CCD or the like can be used.
The release switch 17 is a member that performs a photographing operation of the camera 1 and is a switch that operates a shutter driving timing and the like.

  The rear liquid crystal 18 is provided on the rear surface of the camera housing 1A of the camera 1 and displays a subject image (reproduced image, live view image) photographed by the image sensor 3 and information (menu) related to operation. It is.

  The shutter 20 is disposed behind the mirror 19. Subject light is incident on the shutter 20 when the mirror 19 rotates upward and becomes ready for photographing. The shutter 20 travels through a shutter curtain in response to a shooting instruction from the release switch 17 or the like, and controls subject light incident on the image sensor 3. A sub-mirror 19 a is provided behind the mirror 19 and guides subject light to the AF sensor 16.

  The lens barrel 1B includes a zoom lens group 4, a focus lens group 5, a shake correction lens group (optical element) 6, a zoom lens group drive mechanism 7, a focus lens group drive mechanism 8, and a shake correction lens group drive mechanism (optical element drive). Part) 9, a diaphragm 10, a diaphragm drive mechanism 11, an angular velocity sensor 12, and a lens CPU 2B.

  The lens CPU 2B calculates the movement amount of the lens groups such as the zoom lens group 4, the focus lens group 5, and the blur correction lens group 6. The zoom lens group drive mechanism 7, the focus lens group drive mechanism 8, the blur correction lens group drive mechanism 9 and the aperture drive mechanism 11 are instructed to move the zoom lens group 4, the focus lens group 5, and the blur correction lens group 6. Move.

The zoom lens group 4 is a lens group that is driven by the zoom lens group drive mechanism 7 and moves along the optical axis direction to continuously change the magnification of the image.
The focus lens group 5 is a lens group that is driven by the focus lens group drive mechanism 8 and moves in the optical axis direction to focus.
The shake correction lens group 6 (optical element) is a lens group that is optically shake-corrected and driven on a plane perpendicular to the optical axis by a shake correction lens group drive mechanism 9 such as a VCM.

The diaphragm 10 is a mechanism that is driven by the diaphragm drive mechanism 11 and controls the amount of subject light passing through the photographing lenses (4, 5, 6).
The angular velocity sensor 12 is a sensor that detects an angular velocity of a shake that occurs in each sensor unit.

FIG. 2 is a block diagram of the shake correction apparatus 100 of the present embodiment.
The shake correction apparatus 100 includes a camera CPU 2A, a lens CPU 2B, an angular velocity sensor 12, a shake correction lens group drive mechanism (lens drive unit) 9, a lens position detection unit 21, and a shake correction lens group 6.

The camera CPU 2 </ b> A includes an image sensor 3, a signal processing unit 40, and a motion vector calculation unit 41.
The lens CPU 2B includes an amplification unit 31, a first A / D conversion unit 32, a second A / D conversion unit 33, a reference value calculation unit 34, a reference value correction amount calculation unit 35, and a target position calculation unit 36 including an integration unit therein. A center bias calculator 37, a center bias remover 38, and a drive amount calculator 39.
The angular velocity sensor 12 includes a lens barrel 1B around the X axis (Pitch), around the Y axis (Yaw) (where the X axis is the horizontal axis of the light receiving surface of the image sensor 3 at the normal position of the camera, and the Y axis is This is a sensor such as a vibration gyro that detects the angular velocity of the vertical axis.

The amplifying unit 31 amplifies the output of the angular velocity sensor 12.
The first A / D converter 32 performs A / D conversion on the output of the amplifier 31.
The reference value calculation unit 34 calculates a reference value (corrected angular velocity reference value) of the vibration detection signal (output of the first A / D conversion unit 32) obtained from the angular velocity sensor 12.
Then, the reference value calculated by the reference value calculation unit 34 is subtracted from the output of the first A / D conversion unit 32 by the subtraction unit 43.
The target position calculation unit 36 calculates the target position of the blur correction lens group 6 based on the output of the angular velocity sensor 12 after the reference value is subtracted by the subtraction unit 43.

The center bias calculation unit 37 biases the centripetal force for moving the image blur correction lens 6 toward the center of the movable range based on the target position of the image blur correction lens 6 calculated by the target position calculation unit 36. Calculate as a quantity.
Then, the control position of the image blur correction lens 6 is calculated by subtracting the calculated bias amount from the target position of the image blur correction lens 6.
By performing the centering bias processing in this way, it is possible to effectively prevent the image blur correction lens 6 from colliding with the hard limit, and it is possible to improve the appearance of the captured image.

  The drive amount calculation unit 39 is a blur correction lens group obtained from the target position from the target position calculation unit 36 and the value detected by the lens position detection unit 21 and A / D converted by the second A / D conversion unit 33. 6 is used to calculate the driving amount of the blur correction lens group driving mechanism 9.

The image sensor 3 is provided on the planned focal plane of the photographing optical system. The image pickup device 3 is composed of a device such as a CCD or a CMOS, and generates an analog image signal by photoelectrically converting an input subject image.
The signal processing unit 40 performs predetermined processing on the image signal generated by the image sensor 3. Actually, in order to obtain a motion vector with the configuration of FIG. 1, the mirror is raised, a through image (live view) is obtained, and calculation is performed in a state where light (image) reaches the image sensor 3.

The motion vector calculation unit 41 calculates a motion vector (first motion vector) indicating the motion (motion direction, amount of motion) of the image from the captured image processed by the signal processing unit 40.
Specifically, the motion vector calculation unit 41 detects the motion direction and the motion amount of the image by comparing the luminance information included in two consecutive frame image data captured by the image sensor 3. Calculate the motion vector. Actually, a motion vector equivalent to camera shake is calculated from the motion of the image.

The center bias removing unit 38 is a bias amount calculated by the center bias calculating unit 37 (subtracted from the target position of the image blur correction lens 6) from the first motion vector (MV1) that is the output of the motion vector calculating unit 41. Is subtracted.
The reference value correction amount calculation unit (reference value correction unit) 35 calculates a reference value correction amount based on the second motion vector (MV2) from which the center bias amount has been removed by the center bias removal unit 38.
Then, the subtraction unit (reference value correction unit) 42 subtracts the reference value correction amount obtained by the reference value correction amount calculation unit 35 from the output of the reference value calculation unit 34.
Further, in the present embodiment, a switch unit 46 is provided, which is connected to the A side before exposure of the image sensor 3, and a reference value obtained by subtracting a reference value correction amount by a subtraction unit (reference value correction unit) 42. Are used for subtraction in the subtraction unit 43.
In addition, the image sensor 3 is connected to the B side during exposure, and an average value for a predetermined time of a corrected reference value immediately before exposure is used for subtraction in the subtractor 43.

Next, an operation flow of the shake correction apparatus 100 according to the present embodiment will be described.
FIG. 3 is a flowchart showing an operation flow of the shake correction apparatus 100 of the present embodiment.

  After the camera 1 is turned on, the shake correction apparatus 100 starts a calculation for optical image stabilization. Depending on the camera, when the half-push switch 45 is pressed, the shake correction apparatus 100 starts calculation for optical image stabilization (step S001).

After the output of the angular velocity sensor 12 is amplified by the amplification unit 31, it is A / D converted by the first A / D conversion unit 32 (step S002).
The reference value calculation unit 34 calculates a reference value (a value corresponding to zero deg / s) of the calculated angular velocity based on the signal after A / D conversion of the output of the angular velocity sensor 12. Since the reference value of the angular velocity changes depending on the temperature characteristic, the drift characteristic immediately after startup, etc., for example, the stationary output of the angular velocity sensor 12 at the time of factory shipment cannot be used as the reference value.

  As a method for calculating the reference value, a method of calculating a moving average for a predetermined time and a method of calculating by LPF processing are known. In the present embodiment, reference value calculation by LPF processing is used.

  4A and 4B are diagrams for explaining the reference value calculation unit 34. FIG. 4A shows the reference value calculation unit 34 (HPF), and FIG. 4B shows the LPF 34a of the reference value calculation unit 34. .

  The cut-off frequency fc of the LPF 34 is generally set to a low frequency of about 0.1 [Hz]. This is because camera shake has a dominant frequency of about 1 to 10 [Hz]. If the fc is 0.1 [Hz], there is little influence on the camera shake component, and good blur correction can be performed.

  However, during actual shooting, low-frequency motion such as fine adjustment of the composition (a level at which panning cannot be detected) is added, which may cause an error in the ω0 calculation result. In addition, since fc is low (time constant is large), there is a problem that it takes time to converge to a true value when the error is once increased. In the present embodiment, this ω0 error is corrected.

Returning to FIG. 3, when the information of the first motion vector MV1 is updated (S004, YES), the process proceeds to S005, and when it is not updated (S004, NO), the process proceeds to S006. The description of S004 to S005 will be described later in detail.
In addition, since information on the first motion vector MV1 cannot be obtained during exposure, this step is performed until immediately before the exposure.
The outputs of the angular velocity sensor 12 after subtracting the reference value are integrated, and the target position of the shake correction lens group 6 is calculated based on the focal length, subject distance, shooting magnification, and shake correction lens characteristic information (S006).
Center bias processing is performed to prevent the blur correction lens group 6 from reaching the movable end (S007).

  There are various methods for the center bias processing, such as a method for setting a bias amount in accordance with the target position information, an HPF processing (in S006), and the method is not limited here.

The lens driving amount is calculated from the difference between the target position information including the center bias component and the blur correction lens position information (S008).
The blur correction lens group 6 is driven to the target position (S009), and the process returns to S002.

Next, reference value correction (S004 to S005, S011 to S016) will be described. FIG. 5 is a flowchart showing the reference value correction calculation.
As described above, when the information of the first motion vector MV1 is updated (S004), the process proceeds to S005. If it has not been updated, the process proceeds to S006.
Since the optical blur correction control cycle is sufficiently early with respect to the MV1 update cycle, the same arithmetic processing as normal image stabilization is performed until the MV1 is updated. Here, it is assumed that the control period of optical blur correction is 1 [ms] and the update period of the first motion vector MV1 is 33 [ms] (= 30 [fps]). A well-known technique is used for the calculation method of the first motion vector MV1.

All the received first motion vectors MV1 are summed (S011).
The center bias component calculated in S007 is converted to the same scale as the first motion vector MV1 (S012).
The conversion method is calculated based on the focal length, the subject distance, the shooting magnification, and the resolution information of the first motion vector MV1.
Bias_MV = Bias_θ * f (1 + β) / MV_pitch

Bias_MV: Center bias component (same motion vector scale)
Bias_θ: Center bias component (angle)
f: Focal length β: Image magnification MV_pitch: MV1 pitch size

  In addition, since a delay time occurs until the first motion vector MV1 is detected, it is preferable that the center bias component also has a delay time equivalent to that of the first motion vector MV1. For example, if there is a delay time of 3 frames at 30 [fps], the delay is about 100 [ms]. Therefore, the center bias component included in the first motion vector MV1 can be calculated more accurately by using the bias information before 100 [ms].

The center bias component calculated in S012 is subtracted from the first motion vector MV1 (S013). Thereby, the information of the second motion vector MV2 due to the reference value error can be acquired.
A difference: MV_diff between the latest second motion vector MV2 (n) and the second motion vector MV2 (n-1) one frame before is acquired (S014).
An amount for correcting the reference value is set based on MV_diff. As the reference value, a correction amount is set based on the following idea (S015).

MV_diff> 0: ω0_comp = −ω0_comp_def
MV_diff <0: ω0_comp = + ω0_comp_def
MV_diff = 0: ω0_comp = 0

ω0_comp: reference value correction amount ω0_comp_def: reference value correction constant

  Ω0_comp calculated in S015 is subtracted from the reference value calculated in S003 (S016). Specifically, the value of V4 ′ in FIG. 4B is corrected.

  Here, the angular velocity reference value is corrected using the motion vector information, but the motion vector information can be obtained only during half-pressing. For this reason, during exposure, the reference value calculation without correction is switched.

For the sake of explanation, first, a comparative embodiment will be described. FIG. 6 shows the calculation result of the angular velocity reference value ω0 when the angular velocity (ω5) is added.
Ω01 indicated by a broken line indicates a result of calculating a reference value when correction is not performed using only angular velocity information.
A dot-dash line ω02 is a result of a reference value when correction is performed using motion vector information before exposure, but correction is not performed after exposure.
In the figure, time t1 is the time when the release switch is pressed.
Prior to t1, the angular velocity reference value ω02 is closer to the true value than ω01 when correction is not performed. However, after t1, there is little improvement over ω01.
In addition, the reference value during exposure after correction (correction only before exposure) indicates that it may be worse than during half-pressing, and in the comparative form, the effect of correcting the reference value is diminished. There is a problem.

In the present embodiment, in order to solve the problem of the comparative embodiment, the reference value ω03A during exposure is set based on the reference value ω03B immediately before exposure. Specifically, an average value within a predetermined time T1 of ω03B immediately before exposure is used as the reference value ω03A during exposure.
By this processing, it becomes possible to take a ω0 value closer to the true value even during exposure, and the image stabilization performance is improved.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. In the second embodiment, the predetermined time T1 for obtaining the average value is changed according to the focal length as compared to the first embodiment. Since other than that is the same, description of the same part is abbreviate | omitted.
In the present embodiment, the reason why the predetermined time T1 for obtaining the average value is changed according to the focal length is as follows.
FIG. 7 is a graph showing an angular velocity reference value waveform (half pressed) when the focal lengths are different.
As shown in the figure, in the system for correcting the angular velocity reference value, using the motion vector information, the correction effect is higher than when the focal length is long (ω0_f = long) and when the focal length is short (ω0_f = short). There is a tendency. This is because the smaller the ω0 error can be detected as the motion vector information as the focal length is longer.

Further, as shown in the first embodiment, when the reference value during exposure is set to a value immediately before the release, there is a probability that the error is larger when the focal length is shorter than when the focal length is longer. Will increase.
FIG. 8 is a diagram showing the relationship between the time T1 for obtaining the average value and the focal length. In the present embodiment, when the focal length is short, a predetermined time T1 for obtaining the average value is set longer as shown in FIG.
As a result, a value with less error can be taken.

(Third embodiment)
Next, a third embodiment of the present invention will be described. Compared to the first embodiment, the third embodiment changes a predetermined time T1 for obtaining an average value depending on the detection resolution of the motion vector. Since other than that is the same, description of the same part is abbreviate | omitted.
FIG. 9 is a diagram showing the relationship between the time T1 for obtaining the average value and the decomposition. In the present embodiment, when the resolution is high, the predetermined time T1 for obtaining the average value is set longer as shown in FIG. The reason is the same as in the second embodiment.
As a result, a value with less error can be taken.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described. The fourth embodiment differs from the first embodiment in that the predetermined time T1 for obtaining the average value is changed according to the focal length and the resolution. Since other than that is the same, description of the same part is abbreviate | omitted.
FIG. 10 is a diagram showing the relationship between the time T1 for obtaining the average value, the resolution, and the focal length. In the present embodiment, when the resolution is high, the predetermined time T1 for obtaining the average value is set longer as shown in FIG. As the focal length is longer, the predetermined time T1 for obtaining the average value is set longer as shown in FIG.
As a result, a value with less error can be taken.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described. The fifth embodiment is different from the first embodiment in that the reference value during exposure is set as an average value during a predetermined time: T1 only when the calculation time of the angular velocity reference value is equal to or longer than the predetermined time T2. . Since other than that is the same, description of the same part is abbreviate | omitted.
If the reference value calculation time is less than T2, the reference value during exposure is calculated by reference value calculation processing (LPF processing in FIG. 4).
This is because the reference value calculation is performed by LPF processing with a large time constant (about fc = 0.1 [Hz]), so that a certain amount of time is required for the reference value calculation to converge. is there.
If the reference value calculation is not fully converged, the error may be worsened if the above-described processing (the reference value during exposure is made constant) is performed. For this reason, it is necessary to switch the process during exposure depending on the calculation time.

An example of the reference value calculation result immediately after the start of calculation is shown below.
FIG. 11 is a waveform example when the reference value calculation is started at time t0. Although the convergence of the reference value is improved by using the motion vector information, it still takes time to stabilize (T2). For this reason, when the release is performed between t0 and t1, if the processing described in the first to fourth embodiments is performed, the error may be worsened.
Therefore, when the processing of the first to fourth embodiments is performed, it is performed only when the calculation time of the reference value has exceeded the predetermined time T2.
For the same reason as in the second to third embodiments, the predetermined time T2 may be changed depending on the focal length and the motion vector detection resolution.

(Deformation)
The present invention is not limited to the above-described embodiment, and various modifications and changes as described below are possible, and these are also within the scope of the present invention.
In the present embodiment, the form of performing the shake correction by moving the shake correction lens group has been described, but the present invention is not limited to this. For example, blur correction may be performed by moving the image sensor, or blur correction may be performed by moving the blur correction lens group and the image sensor.
In addition, although embodiment and a deformation | transformation form can also be used combining suitably, detailed description is abbreviate | omitted. Further, the present invention is not limited to the embodiment described above.

  1: camera, 1A: camera housing, 1B: lens barrel, 2A: camera CPU, 2B: lens CPU, 3: image sensor, 4: zoom lens group, 5: focus lens group, 6: blur correction lens group, 7: Zoom lens group drive mechanism, 8: Focus lens group drive mechanism, 9: Blur correction lens group drive mechanism, 12: Angular velocity sensor, 21: Lens position detection unit, 31: Amplification unit, 32: First A / D conversion unit 33: second A / D conversion unit, 34: reference value calculation unit, 35: center bias removal unit, 35: reference value correction amount calculation unit, 36: target position calculation unit, 37: center bias calculation unit, 38: center Bias removal unit, 39: drive amount calculation unit, 40: signal processing unit, 41: vector calculation unit, 42: reference value correction unit, 43: subtraction unit, 100, 200: blur correction device

Claims (8)

An optical system that receives light from a subject and forms an image of the subject;
An image sensor that captures an image of the subject formed by the optical system;
A blur correction element that can be driven to correct blur of the image of the subject;
An angular velocity sensor for detecting an angular velocity of an imaging device including the optical system;
A reference value calculation unit for calculating a reference value of an output signal of the angular velocity sensor based on the output signal;
Before the operation of the operation unit instructing imaging, the blurring is performed based on the correction reference value corrected using the motion vector calculated from the plurality of images of the subject imaged before the operation of the operation unit and the output signal of the angular velocity sensor. calculates a target position of the correction elements, after the operation of the operation unit, before a predetermined operation unit is operated time until the operation portion is operated, the average value of corrected said corrected reference value and A target position calculation unit that calculates a target position of the shake correction element based on the output signal of the angular velocity sensor;
An image stabilization apparatus having The blur correction device according to claim 1,
The target position calculation unit shortens the time for calculating the average value of the correction reference values when the focal length of the optical system is long.
Blur correction device. The blur correction apparatus according to claim 1 or 2,
The target position calculator, when the resolution of the motion vector is small, shortens the time for calculating the average value of the correction reference values;
Blur correction device. The blur correction device according to claim 1,
The blur correction element is a part of the optical system,
Blur correction device. The blur correction device according to claim 1,
The blur correction element is the imaging element.
Blur correction device.   A lens barrel comprising the shake correction device according to claim 1.   A camera comprising the shake correction device according to claim 1. An image sensor that can be driven to capture a subject image formed by an optical system and correct blur of the subject image;
An angular velocity sensor for detecting an angular velocity of an optical device including the imaging element;
A reference value calculation unit for calculating a reference value of the output signal of the angular velocity sensor;
An operation unit operated to instruct an imaging operation;
A reference value correction unit that corrects the reference value using a motion vector calculated from a plurality of the subject images imaged by the imaging element before the operation of the operation unit;
Before the operation of the operation unit, the target position of the image sensor is calculated based on the corrected reference value and the output signal of the angular velocity sensor. After the operation of the operation unit , a predetermined time before the operation unit is operated and the target position calculating section for calculating a target position of the imaging element by the output signal of the average value and the angular velocity sensor reference value, of the corrected until the operating portion is operated from,
An optical instrument.

Images