KR101951076B1 - Image capturing apparatus, control method thereof and computer program therefor - Google Patents

Abstract

In the image capturing apparatus 100, the control unit 132 detects first motion information obtained from the first detector 107 that detects the motion of the image capturing apparatus and motion of the subject when the motion of the image capturing apparatus follows the motion of the subject And controls the optical element 104 by using the second motion information obtained from the second detector 135. [ The calculation unit 134 calculates the prediction information on the motion of the subject during the exposure period using the second motion information detected at a plurality of times before the exposure period. The control unit controls the optical element during the exposure period using the prediction information.

Description

[0001] IMAGE CAPTURING APPARATUS, CONTROL METHOD THEREOF AND COMPUTER PROGRAM THEREFOR [0002]

The present invention relates to a technique for reducing image blur in a so-called " follow shot ".

The follow shot enables to express the speed feeling of a moving subject, and is a photographing technique in which the photographer stops the subject and acquires an image in which the background flows by panning the image capturing device (camera) in accordance with the movement of the subject. In such a follow shot, if the panning speed is earlier or later than the moving speed of the subject, an image including a blurred subject image is generated.

Japanese Patent Laid-Open Publication No. 04-163535 discloses a technique in which a part of an optical system or an image sensor is moved during photographing based on an angular velocity of a subject with respect to a camera calculated before photographing (exposure) and an angular velocity of the camera during photographing obtained from an angular velocity sensor, A camera for correcting the shake is disclosed. The camera calculates an angular velocity relative to the camera (hereinafter referred to as " relative object angular velocity ") using an amount of displacement of an image on an image plane on an object and an output from an angular velocity sensor; The amount of displacement is detected from a temporally sequential image.

The camera disclosed in Japanese Patent Application Laid-Open No. 04-163535 is premised on that the angular speed of the relative object is kept constant during photographing in which the shake of the object is corrected. However, even when a subject (e.g., a train) is moving at a constant speed, the relative object angular velocity measured by a camera positioned in a direction orthogonal to the moving direction of the subject changes (accelerates or decelerates). In this case, when there is a time lag between the measurement time of the relative object angular velocity and the actual photographing time, if the change of the relative object angular velocity during the time lag is ignored, it is impossible to appropriately correct the image shake during photographing do.

The present invention provides an imaging apparatus capable of performing a good follow shot in which a shake on a subject is reduced even when the speed of the subject detected by the camera changes.

The present invention provides an imaging apparatus configured to perform imaging of a subject. The apparatus includes first motion information obtained from a first detector for detecting a motion of the imaging device and second motion information obtained from a second detector for detecting the motion of the object when the motion of the imaging device follows the motion of the object, A control unit configured to control the optical element using the motion information, and a calculating unit configured to calculate the prediction information on the motion of the subject during the exposure period using the second information detected at a plurality of times before the exposure period. The control unit controls the optical element during the exposure period using the prediction information.

The present invention provides, as another aspect thereof, an imaging apparatus configured to perform imaging of a subject. The apparatus includes first motion information obtained from a first detector for detecting a motion of the imaging device and second motion information obtained from a second detector for detecting the motion of the object when the motion of the imaging device follows the motion of the object, A control unit configured to control the optical element using the motion information, and a calculation unit configured to calculate prediction information on the motion of the subject during the exposure period using the second information detected at a plurality of times before the exposure period . The control unit controls the optical element during the exposure period using the prediction information and the first motion information obtained during the exposure period.

In another aspect thereof, the present invention provides a non-volatile computer-readable storage medium storing a computer program or a control program thereof for controlling an optical element as described above in an image pickup apparatus.

Other aspects of the invention will be apparent from the embodiments described below with reference to the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flowchart showing angular velocity setting processing in a camera according to Embodiment 1 of the present invention; FIG.
2 is a flowchart showing a follow shot assist processing in the camera of the first embodiment;
3 is a block diagram showing a camera configuration of the first embodiment;
4 is a block diagram showing a configuration of a phase stabilization system in a camera according to Embodiment 1. Fig.
5 is a flowchart showing panning control in the camera of the first embodiment;
6 is a block diagram showing the configuration of a shift drive control system in the follow shot assist mode in the camera of the first embodiment;
7 is a view for explaining a panning determination threshold in the camera of the first embodiment;
8 is a graph showing the relative object angular velocity and its change (angular acceleration) in the first embodiment;
9 is a view for explaining the relative object angular velocity in the first embodiment;
10 is a view for explaining the singularity in the first embodiment;
11 is a view for explaining the determination of the 0 占 singular point in the first embodiment;
12 is a flowchart showing the angular velocity setting process in the camera according to the second embodiment of the present invention;
Figs. 13A to 13D are diagrams for explaining distances and angles between two points in the second embodiment; Fig.
14 is a flowchart showing a follow shot assist processing in the camera of the third embodiment;
15 is a block diagram showing the configuration of a lens interchangeable camera system according to Embodiment 4 of the present invention.
16 is a block diagram showing a configuration of a follow shot auxiliary control system in an interchangeable lens of Embodiment 4. Fig.
17 is a flowchart showing a camera-side follow shot assist processing in the fourth embodiment;
18 is a flowchart showing the lens-side follow shot assist processing in the fourth embodiment;
19 is a flowchart showing a camera-side follow-shot auxiliary processing of a lens interchangeable camera system according to Embodiment 5 of the present invention.
20 is a flowchart showing an interchangeable lens-side follow shot assist processing in the fifth embodiment;
21 is a flowchart showing a camera-side follow shot assist processing in a modification of the fifth embodiment;
22 is a flowchart showing a lens-side follow-shot auxiliary processing in a modification of the fifth embodiment;

Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings.

[Example 1]

Fig. 3 shows the configuration of a lens interchangeable camera (hereinafter simply referred to as " camera ") 100 as an image pickup apparatus which is a first embodiment (Embodiment 1) of the present invention.

The camera 100 includes a photographing lens unit 101 which is a photographing optical system that causes light from a subject to form an optical image (subject image). The photographing lens unit 101 includes a main lens system 102 and a zoom lens 103 that moves in the optical axis direction in which the optical axis of the photographing lens unit 101 extends to change the focal length of the photographing lens unit 101, And a focus lens (not shown) moving in the optical axis direction to perform focus adjustment. Further, the photographing lens unit 101 includes a shift lens 104 which is an optical element that constitutes a part of the photographing lens unit 101. [

The shift lens 104 is a shift element capable of shifting (shifting) in a direction orthogonal to the optical axis (hereinafter referred to as " shift direction ") for assist of the follow shot. The follow shot assist is performed in order to reduce the shaking on the subject in the follow shot in which the user changes the direction of the camera by panning the camera 100 and shoots the subject image of the moving subject. The shift lens 104 is configured to shift the shift of the object caused by the swinging motion of the camera 100 caused by the hand tremor of the user (hereinafter referred to as "camera shaking motion") by the shift lens 104, Direction, and also has a phase stabilizing function for optically correcting.

The camera 100 includes a zoom encoder 105, a shift position sensor 106, an angular velocity sensor 107, an angular velocity amplifier 108, a camera control microcomputer 130, a shift driver 109, And a shift position amplifier (110).

The zoom encoder 105 detects the position of the zoom lens 103 in the optical axis direction. The shift position sensor 106 detects the position of the shift lens 104 in the shift direction. The angular velocity sensor 107 detects the angular velocity (angular velocity information) which is the motion velocity of the camera 100 in the directions (pitch and yaw directions) orthogonal to the optical axis as the first motion detector . The angular velocity amplifier 108 amplifies the output from the angular velocity sensor 107. [

A camera control microcomputer (hereinafter simply referred to as " camera microcomputer ") 130 controls the operation of the entire camera 100. The shift driver 109 includes a shift actuator such as a voice coil motor and its drive circuit, and shifts the shift lens 104 by driving the shift actuator. The shift position amplifier 110 amplifies the output from the shift position sensor 106.

The camera 100 further includes a shutter 111, an image sensor 112, an analog signal processing circuit 113, a camera signal processing circuit 114, a timing generator 115, operation switches 116 ), A shutter motor 117, and a shutter driver 118. The shutter driver 118 is a shutter drive mechanism.

The image sensor 112 is constituted by a photoelectric conversion element such as a CMOS sensor or a CCD sensor and photoelectrically converts the subject image formed by the photographing lens unit 101 to output an analog electric signal. The shutter 111 controls the exposure period of the image sensor 112 (in other words, the time length of exposure).

The analog signal processing circuit (AFE) 113 amplifies the analog signal output from the image sensor 112, converts the amplified analog signal into an image signal as a digital signal, and outputs the image signal to the camera signal processing circuit 114.

The camera signal processing circuit 114 generates a video signal (photographed image) by performing various image processes on the image pickup signal. The captured image (or a still image extracted from the captured image) is recorded in a memory card 119 that can be attached to or detached from the camera 100, or a monitor (hereinafter referred to as "LCD") 120 < / RTI >

Timing generator 115 sets the operating times of image sensor 112 and analog signal processing circuit 113.

The operation switches 116 include various switches such as a power switch, a release switch, a mode selection switch, and a dial. The camera 100 of this embodiment can switch between the follow shot assist mode and the normal shooting mode through the operation of the mode selection switch. The shutter motor 117 is driven by the shutter driver 118 to cause the shutter 111 to perform a charging operation (closing operation).

The camera signal processing circuit 114 includes a motion vector detection unit 135 as a second detector for detecting a motion vector from the frame images constituting the photographed image signal.

The camera microcomputer 130 includes a phase stabilization control unit 131, a follow shot control unit 132, a shutter control unit 133, and a subject angular velocity calculation unit 134. The subject angular velocity calculating section 134 corresponds to the calculator, and the follow shot control section 132 corresponds to the controller.

The image stabilization control section 131 performs image stabilization control (phase stabilization control) for controlling the shift drive of the shift lens 104 in order to correct (reduce) the image shake on the subject, that is, the image shake caused by the camera shake.

The follow shot control unit 132 controls the shift drive of the shift lens 104 to perform the follow shot assist.

The shutter control unit 133 releases the energization of the release electromagnetic magnet (not shown) through the shutter driver 118 to cause the shutter 111 to perform the opening operation from the charged state and also controls the shutter motor 117 And causes the shutter 111 to perform the charging operation.

The subject angular velocity calculating section 134 calculates the relative subject angular velocity as the measured angular velocity of the subject (main subject) with respect to the camera 100. [ The main subject means the subject to be photographed. The camera microcomputer 130 performs focus lens control, diaphragm control, and the like.

When the power switch of the operation switches 116 is turned on and the power of the camera 100 is turned on, the camera microcomputer 130 starts power supply to each of the parts in the camera 100, .

In the normal shooting mode other than the follow shot assist mode, the angular velocity sensor 107 detects the camera shaking motion, and the phase stabilization control unit 131 shifts the shift lens 104 in accordance with the detection result, .

Fig. 4 shows the configuration of the image stabilization system of the camera 100. Fig. In Fig. 4, components common to those shown in Fig. 3 are denoted by the same reference numerals as those in Fig. 3, and a description thereof will be omitted. The actual image stabilization system has two systems for shifting the shift lens 104 in two directions (pitch direction and yaw direction), but since the configurations are the same, Fig. 4 shows only one of them.

The angular velocity A / D converter 401 converts the angular velocity signal (analog signal) output from the angular velocity sensor 107 (angular velocity amplifier 108) into angular velocity data as a digital signal and outputs the angular velocity data to the filter operation unit 402. The angular velocity data is sampled at a frequency of about 1-10 kHz corresponding to the frequency of camera shake.

The filter operation unit 402 is constituted by a high pass filter (HPF) and removes an offset component included in the angular velocity data or changes the cutoff frequency of the HPF in accordance with a command from a panning control unit 407 described later. The first integrator 403 converts angular velocity data into angular displacement data to generate target position data which is data of the target shift position of the shift lens 104. [

The shift position A / D converter 406 converts the shift position signal (analog signal) output from the shift position sensor 106 (shift position amplifier 110) into shift position data as a digital signal. The first adder 404 calculates the drive amount data of the shift lens 104 by subtracting the shift position data (current shift position data) from the target position data of the shift lens 104. [

The PWM output unit 405 outputs the calculated drive amount data to the shift driver 109. [ The shift driver 109 drives the shift actuator based on the drive amount data to shift the shift lens 104 to the target shift position.

The panning control unit 407 determines whether or not panning of the camera 100 is being performed based on the angular velocity data obtained from the angular velocity sensor 107 (angular velocity A / D converter 401). The panning control unit 407 changes the cutoff frequency of the filter operation unit (HPF) 402 and adjusts the output of the first integrator 403 when it is determined that the camera 100 is being panned.

5 shows an example of the panning control performed by the panning control unit 407. In Fig. The panning control unit 407 (i.e., the camera microcomputer 130) performs this panning control in accordance with a panning control program which is a computer program.

In step S501, the panning control unit 407 determines whether the average value of the angular velocity data introduced from the angular velocity A / D converter 401 is larger than a predetermined value a. The average value (hereinafter referred to as " angular velocity average value ") is an average value of the angular velocity data sampled a predetermined number of times. If the angular velocity average value is equal to or less than the predetermined value a, the panning control section 407 determines that panning is not performed and proceeds to step S507. On the other hand, when the angular velocity average value is larger than the predetermined value a, the panning control unit 407 proceeds to step S502 and determines whether or not the angular velocity average value is larger than a predetermined value b (> a). When the angular velocity average value is equal to or smaller than the predetermined value b, the panning control section 407 determines that low-speed panning is performed, and proceeds to step S506. If the angular velocity average value is larger than the predetermined value b, the panning control unit 407 determines that high-speed panning is being performed and proceeds to step S503.

In step S503, the panning control unit 407 sets the cutoff frequency of the filter operation unit (HPF) 402 to the maximum value. Next, in step S504, the panning control unit 407 turns off the phase stabilization control (i.e., in the non-operating state). The reason why the image stabilization control is turned off when the high-speed panning is performed is that when the high-speed panning is regarded as a large camera fluctuation and the shift lens 104 is shifted, when the shift lens 104 reaches the shift end, This is because it gives a strange feeling to the user by moving greatly. Another reason for this is that the high-speed panning greatly moves the photographed image, so that the image shaking caused by the camera shaking hardly gives the user a strange feeling. Further, by gradually stopping the shift of the shift lens 104 after setting the cut-off frequency of the HPF to the maximum value, the phase fluctuation caused by the camera shaking suddenly appears due to the OFF of the image stabilization control, Can be avoided.

In step S505, the panning control unit 407 turns off the phase stabilization control, and gradually changes the output of the first integrator 403 from the current angular displacement data to the initial position data. This gradual change in the output of the first integrator 403 slowly returns the shift lens 104 to its initial position where the optical axis of the shift lens 104 coincides with the optical axis of the photographing lens unit 101. [

In step S506, the panning control unit 407 determines that the low-speed panning is being performed. The panning control unit 407 sets the cutoff frequency of the filter operation unit (HPF) 402 in accordance with the angular velocity data. This is because during the low-speed panning, the image shake due to the camera shake is likely to be conspicuous, and this image shake needs to be corrected. The cut-off frequency is set so that the image blur caused by the camera shake can be corrected while the unnatural change of the photographed image is prevented during panning. Thereafter, in step S508, the panning control unit 407 turns on the phase stabilization control (that is, in the operating state).

The panning control unit 407 determines that the angular velocity average value is equal to or less than the predetermined value a (i.e., the panning is not being performed) and proceeds to step S507, and sets the cutoff frequency of the filter operation unit (HPF) 402 to a normal time value . Then, the panning control unit 407 proceeds to step S508 and turns on the phase stabilization control.

Fig. 7 shows the relationship between the angular velocity data in the yaw direction during panning and the predetermined values a and b. 7, reference numeral 701 denotes sampled angular velocity data. The angular velocity data has a plus (+) value when the camera 100 is panned in the right direction and a minus (-) value when the camera 100 is panned in the left direction. In FIG. 7, a high-speed (abrupt) panning in the rightward direction, a low-speed panning in the rightward direction, and a low-speed panning in the leftward and rightward directions are detected.

As shown in Fig. 7, during panning, the angular velocity data largely deviates from the initial value (0). The output of the first integrator 403 that integrates this angular velocity data to calculate the target position data of the shift lens 104 is greatly increased due to an offset component such as DC, and the shift lens 104 becomes uncontrollable. Therefore, when panning is detected, it is necessary to block the offset component by setting the cutoff frequency of the HPF to be high.

In particular, in the case where high-speed panning is performed, it is necessary to prevent the output of the first integrator 403 from increasing by setting the cut-off frequency of the HPF to be high because the possibility of such uncontrollable state is high.

By the panning control as described above, it is possible to generate a photographed image that gives almost no unusual feeling to the user even during panning. 3, when the follow shot assist mode is set by the operation of the mode selection switch among the operation switches 116, the motion vector detector 135 in the camera signal processing circuit 114 detects the motion of the subject image A motion vector is detected. The detected motion vector is input to the follow shot control unit 132 in the camera microcomputer 130. At the same time, the follow shot control unit 132 receives the angular velocity signal (first motion information) from the angular velocity sensor 107 (angular velocity amplifier 108).

In the motion vector outputted from the motion vector detector 135 during the follow shot, there are a motion vector on the main subject and a motion vector on the background behind the main subject. Among these motion vectors, a motion vector indicating a motion amount smaller than the other is a motion vector on the main subject. This motion vector (second motion information) on the main subject indicates the displacement (movement) on the upper surface of the main subject in one frame period, that is, on the image sensor 112.

On the other hand, the angular velocity data outputted from the angular velocity sensor 107 corresponds to the panning speed (following shot speed) of the camera 100. [ When the angular velocity data and the difference between the angular velocity calculated from the focal length of the photographing lens unit 101 and the amount of displacement on the upper surface of the main subject in one frame period are calculated, the angular velocity of the main object with respect to the camera 100 Relative object angular velocity) is obtained.

The subject angular velocity calculating section 134 calculates (acquires) relative object angular velocities at each time frame image is generated, that is, at a frame period. The subject angular velocity calculating section 134 transmits to the follow shot control section 132 information on the set of the calculated relative object angular velocity and the calculated time (acquisition time) at which the relative subject angular velocity was calculated.

Fig. 6 shows the configuration of a shift drive control system for performing shift drive control of the shift lens 104 in the follow shot assist mode. In Fig. 6, components common to those shown in Figs. 3 and 4 are denoted by the same reference numerals as those in Figs. 3 and 4, and a description thereof will be omitted.

The follow shot control unit 132 includes a camera information acquisition unit 601, an angular velocity data output unit 602, a subject angular velocity setting unit 603, a second adder 604, a second integrator 605, And a setting changing unit 606. [

The camera information acquiring unit 601 acquires, from the operation switches 116, follow shot setting information indicating that the follow shot assist mode is set by the operation of the mode selection switch and information indicating that shooting has been instructed by the operation of the release switch Get release information. The angular velocity data output unit 602 samples the angular velocity data at predetermined times and outputs the sampled data to the subject angular velocity calculating unit 134. [

The subject angular velocity setting unit 603 sets the angular speed of the relative object calculated by the subject angular velocity calculating unit 134 and the set time of the calculated time before the photographing (that is, before the exposure of the image sensor 112 for still image recording) And a plurality of sets). The subject angular velocity setting unit 603 holds (accumulates) the acquired information as the angular velocity history. In the following description, exposure refers to photographing for recording. The subject angular velocity setting unit 603 acquires the angular velocity of the relative object with respect to the camera 100 as an estimated angular velocity (prediction information) during the exposure period by using the angular velocity history before exposure. The angular velocity of the relative object calculated by the angular velocity calculation unit 134 before exposure is referred to as " relative object angular velocity before exposure period " and the angular velocity history before exposure is referred to as " angular velocity history before exposure period " Is referred to as " relative object angular velocity during exposure period ". The subject angular speed setting unit 603 sets the relative subject angular speed during the acquired exposure period as the relative subject angular speed to be used for the control of the shift drive of the shift lens 104 during the exposure period in the follow shot assist.

The second adder 604 calculates the difference between the angular velocity data from the angular velocity sensor 107 and the relative angular velocity of the subject during the exposure period set by the subject angular velocity setting unit 603. [ The second integrator 605 performs the integration operation only during the exposure period. The setting changing section 606 changes the setting of the panning control section 407 in accordance with the notification of acquisition of the follow shot assist mode from the camera information obtaining section 601. [ When the follow shot assist mode is set by the mode selection switch operation among the operation switches 116, the camera information acquisition unit 601 notifies the setting change unit 606 of the follow shot setting information. The setting changing unit 606 changes the predetermined values a and b in the panning control unit 407 so as not to restrict the high speed panning by the user in accordance with the notification of the follow shot setting information.

The second adder 604 calculates the difference between the angular velocity data from the angular velocity sensor 107 and the relative angular velocity of the object from the angular velocity setting unit 603 and transmits the difference to the second integrator 605. [

The second integrator 605 starts the integral operation of the difference during the exposure period according to the release information from the camera information acquisition unit 601 and outputs the result. The second integrator 605 outputs a value at which the shift lens 104 is located at its initial position in a period other than the exposure period. There is no problem even if the shift lens 104 shifts from the position at that point of time to the initial position at a short time at the end of the exposure period. That is, since the analog signal from the image sensor 112 is read immediately after the end of the exposure period, the LCD 120 does not display the photographed image, so that the movement of the photographed image due to the shift of the shift lens 104 is not a problem do.

The output of the second integrator 605 is added to the output of the first integrator 403 by the first adder 404. Thereafter, the shift position data of the shift lens 104 from the shift position sensor 106 (shift position A / D converter 406) is subtracted from the addition result, and thereby the shift lens 104 Amount data is calculated.

In the follow shot assist mode, when the high-speed panning is actually performed by the user, the panning control unit 407 immediately starts panning control and turns off the phase stabilization control as described in step S504 in Fig. The shift lens 104 subjected to the panning control corrects the amount of displacement on the image surface on the object; The amount of displacement corresponds to the difference between the angular velocity of the panning of the camera 100 and the relative angular velocity of the relative object to the camera 100 (hereinafter simply referred to as " subject "). By this panning control, the difference between the panning speed of the camera 100 and the moving speed of the subject during the exposure period, which causes the follow shot failure, is canceled by the shift drive of the shift lens 104, This will succeed.

The subject angular velocity setting unit 603 takes into account the release time lag and the exposure period when setting the relative subject angular velocity during the exposure period using the history of angular velocity before the exposure period obtained from the subject angular velocity calculation unit 134 before exposure.

For example, in the case where a follow shot is performed using a camera 100 positioned in a direction orthogonal to the moving direction of the subject with respect to a subject moving at uniform speed, the angular velocity measured from the camera 100 is continuously Change. As a result, the measured angular velocity of the subject and its actual angular velocity during the exposure period become unequal to each other. Therefore, unless the change in the angular velocity (i.e., the angular acceleration) is taken into account, it becomes impossible to achieve sufficient correction by the shift drive of the shift lens 104. [

Fig. 8 shows a change in the angular speed omega of a subject (train) that is moving at a constant velocity linearly as shown in Fig. The angular velocity? Is measured from the camera 100 positioned in a direction orthogonal to the traveling direction of the subject. In Fig. 9, the subject is performing a constant velocity linear motion at the velocity v in the left direction. A point (hereinafter referred to as " origin ") A indicates a position where the distance from the camera 100 is the shortest on the movement locus by the constant velocity linear motion of the subject. L is the distance from the camera 100 to the origin A (i.e., the shortest distance from the camera 100 to the movement trajectory). Represents the angle formed by the direction from the camera 100 to the subject (i.e., the direction of the camera 100) with respect to the direction from the camera 100 toward the origin A, i.e., the direction orthogonal to the moving direction of the subject . The angle? Is hereinafter referred to as "panning angle". The panning angle &thetas; has a plus (+) value on the right side from the origin A and a minus (-) value on the left side from the origin A.

In Fig. 8, the abscissa axis represents the panning angle [theta] when the subject in Fig. 9 is located at the origin A, and the ordinate axis at the center represents the angular velocity [omega] of the subject. The solid line shows the change of the angular velocity omega. The vertical axis on the right side represents the angular acceleration α, and the dashed line graph represents the change in the angular acceleration α.

The change in angular acceleration α is a change in the angular acceleration of the subject according to the position of the subject with reference to the position of the camera 100. Fig. 8 shows an example of the angular velocity omega and the angular acceleration alpha when the shortest distance from the camera 100 to the origin A is 20 m and the subject is performing a constant velocity linear motion at a speed of 60 km / h.

In FIG. 8, when the subject passes the origin A (? = 0), the angular velocity? Becomes maximum and the angular acceleration? Becomes zero. When the subject passes the position of? = + 30 占, the angular acceleration α becomes the maximum. When the subject passes a position of? = -30 占, the angular acceleration α is minimized. The relationship between the panning angle [theta], the angular velocity [omega] and the angular acceleration [alpha] does not depend on the shortest distance described above or the velocity of the object.

2 is a flowchart showing a follow shot assistant process performed by the camera microcomputer 130 in the follow shot assist mode. The camera microcomputer 130 executes this in accordance with a follow shot assist control program which is a computer program. The user follows the moving subject while panning the camera 100.

In step S201, the camera microcomputer 130 determines whether or not a half-press operation (SW1ON) of the release switch has been performed. When SW1ON is performed, the camera microcomputer 130 advances to step S202 to increment the time measurement counter, and then proceeds to step S204. If SW1ON is not performed, the camera microcomputer 130 proceeds to step S203, resets the time measurement counter, and then returns to step S201.

In step S204, the camera microcomputer 130 determines whether or not the subject angular velocity calculating section 134 has already calculated the relative subject angular velocity (referred to simply as " subject angular velocity before exposure period " in FIG. 2) Check. If the relative object angular velocity has already been calculated before the exposure period, the camera microcomputer 130 proceeds to step S205 to check whether or not the time measurement counter has reached the predetermined time T. [ Even if the angular velocity of the relative object before the exposure period has not yet been calculated or the angular velocity of the relative object has already been calculated before the exposure period, if the time measurement counter reaches the predetermined time T (i.e., the period during which the SW1ON is performed is the predetermined time T , The camera microcomputer 130 proceeds to step S206.

In step S206, the camera microcomputer 130 causes the subject angular velocity calculating unit 134 to calculate the relative subject angular velocity before the exposure period. This processing as the first processing causes the subject angular velocity calculating section 134 to calculate the relative subject angular velocity before the exposure started in accordance with the SW2ON described later and allows the subject angular velocity setting section 603 to acquire the angular velocity history before the exposure period.

The reason why the relative object angular velocity before the exposure period is again calculated when the time measurement counter reaches the predetermined time T is to consider the possibility that the subject speed changes within the predetermined time T. [ The angular velocity of the relative object before the exposure period calculated by the angular velocity calculation unit 134 is transmitted to the angular velocity setting unit 603 of the subject of the follow shot control unit 132 for each calculation. If the time measurement counter has not yet reached the predetermined time T in step S205, the camera microcomputer 130 proceeds to step S208.

In step S207 after step S206, the camera microcomputer 130 causes the subject angular velocity setting unit 603 to set the relative object angular velocity during the exposure period (simply referred to as "subject angular velocity during exposure period" in FIG. 2). Details of this process (angular velocity setting process) as the second process will be described later. Then, the camera microcomputer 130 proceeds to step S208.

In step S208, the camera microcomputer 130 determines whether or not a full-press operation (SW2ON) of the release switch has been performed. If SW2ON is not performed, the camera microcomputer 130 returns to step S201. On the other hand, if the SW2ON has been performed, the camera microcomputer 130 proceeds to step S209 to open the shutter 111 through the shutter control unit 133 and start exposure.

In step S210, the camera microcomputer 130 causes the follow shot control unit 132 to control the shift drive of the shift lens 104 in accordance with the relative object angular velocity during the exposure period set in step S207, A follow shot assist for correcting the amount of displacement on the image plane is performed. If it is determined that high-speed panning is being performed in step S502 of Fig. 5 in the control of the shift drive, the camera microcomputer 130 corrects the image blur caused by camera shaking through the image stabilization control unit 131 The shift lens 104 is shifted.

Next, in step S211, the camera microcomputer 130 determines whether or not exposure has been completed. When the exposure is completed, the camera microcomputer 130 proceeds to step S212. If the exposure has not been completed, the camera microcomputer 130 returns to step S210.

In step S212, the camera microcomputer 130 again determines whether SW2ON has been performed. If SW2ON has been performed, the camera microcomputer 130 returns to step S209 to perform the next exposure (i.e., take the next image in the continuous shot). On the other hand, when SW2ON is not performed, the camera microcomputer 130 returns to step S201.

1 is a flowchart showing an angular velocity setting process performed by the subject angular velocity setting unit 603 in step S207 in Fig. The subject angular velocity setting unit 603 (i.e., the camera microcomputer 130) executes this process in accordance with a part of the follow shot assist control program.

In step S101, the subject angular velocity setting unit 603, which has received an instruction to set the relative object angular velocity in the exposure period from the camera microcomputer 130, determines that the subject angular velocity setting unit 603 has previously detected the subject angular velocity calculating unit 134 And reads the stored angular velocity history before the exposure period.

Then, in step S102, the subject angular velocity setting unit 603 detects the singularity of the angular velocity from a plurality of sets of the relative object angular velocity and the calculation time before the exposure period included in the read angular velocity history before the exposure period. 8, in the three singular points of the angular velocity with the panning angle [theta] of 0 [deg.], +30 [deg.], And -30 [deg.], Three kinds of specific changes occur in the angular acceleration, which is the time rate of change of the angular velocity.

The subject angular velocity setting unit 603 calculates the angular acceleration (angular acceleration information) by dividing the difference of the relative object angular velocities in the two adjacent calculation times in the angular velocity history before the exposure period by the time interval between the two calculation times. The subject angular velocity setting unit 603 performs the calculation of the angular acceleration on the plurality of sets of two adjacent calculation times to calculate the temporal changes of the angular acceleration. Then, the subject angular velocity setting unit 603 sets the angular velocity of the object to be angularly changed in accordance with the local maximum value (i.e., the change from increase to decrease at? = + 30 degrees) and the minus maximal value , and a change from decrease to increase at? = -30 占). Further, the subject angular velocity setting unit 603 also detects a change between positive and negative angles (i.e., a change from one of plus and minus at? = 0 degrees) to angular acceleration.

In step S103, the subject angular velocity setting unit 603 determines whether or not the number of singular points detected by the above-mentioned singular point detecting process is two or more. That is, the subject angular velocity setting unit 603 sets the angular velocity of the subject 603 at 0 °, + 30 °, and -30 °, + 30 °, and 0 ° or 0 ° And -30 DEG. "If two or more outliers are detected, the subject angular velocity setting unit 603 proceeds to step S104, and if not, proceeds to step S105.

In step S104, the subject angular velocity setting unit 603 calculates (sets) the relative subject angular velocity omega in the exposure period using the following equation (1).

(1)

(One)

In the formula (1), t ₃₀ is the subject panning angle θ = + 30 ° and -30 ° in, that it takes to move to a position corresponding to the panning angle θ = 0 ° from the position corresponding to that the singular point detection time length . In addition, t _c is the subject panning angle θ = from the time that has passed through the position corresponding to 0 ° before the exposure period relative subject angular velocity of the last it is detected during the time, that is, the time length from the immediately preceding time of release information has been entered . In addition, t _lag represents the time length from the point at which the last one of the relative object angular velocities was detected before the exposure period to the middle point of the exposure period. In the following description, the middle point of the exposure period corresponds to half of the exposure period, but the midpoint of the exposure period may not be the half of the exposure period as long as it is within the exposure period.

10 shows t ₃₀ , t _c and t _lag when t ₃₀ is the length of time required for the subject to move from the position of θ = + 30 ° to the position of θ = 0 °.

The derivation of equation (1) will be described with reference to Fig. 9, v represents the moving speed of the subject (hereinafter referred to as " subject speed "), L represents the moving trajectory of the subject (origin A) and the shortest distance between the camera 100 and t represents the distance Represents the length of time it takes to move to origin A. The angular speed omega of the subject is a time derivative of?, And is calculated as follows.

Where u is defined as:

If arctan (u) is differentiated by u and its derivative result is expanded into u again, the following equation is obtained.

If u is differentiated by t, then:

If we apply this to the law of series of differentials,

In Fig. 10, when L is obtained,

Applying this L and t = t _c + t _lag to the expression of ω yields equation (1).

In step S105, the subject angular velocity setting unit 603 determines whether or not a singular point corresponding to? = + 30 占 is detected. When this singular point is detected, the subject angular velocity setting unit 603 proceeds to step S106, and if not, proceeds to step S107.

In step S106, the subject angular velocity setting unit 603 calculates the relative subject angular velocity omega in the exposure period using equation (2). More specifically, the subject angular velocity setting unit 603 first calculates the difference between the exposure time before the subject relative angular velocity (ω _n -ω _n-1) calculated in the latest two time calculation of the exposure period, before the angular velocity history. Then, the object angular velocity setting unit 603 subjects the last exposure time period before the subject relative angular velocity is relative with a _lag time t it takes to move to the midpoint of the exposure time period from the detected time of the object angular velocity (ω _n -ω _{n - 1} ) _Find t _lag / t _f . Thereafter, the subject angular velocity setting unit 603 performs weighting based on the weight W of 1 or less with respect to the calculated relative object angular velocity ( _{n -} omega _{n - 1} ) t _lag / t _f , The angular speed? Is calculated (set).

(2)

(2)

In equation (2),? _N represents the angular velocity calculated at the latest calculation time among the two latest calculation times, and? _{N- 1} is the angular velocity calculated at the calculation time one before the latest calculation time. In addition, _f t represents the length of time between the previous calculation time corresponding to the latest of the calculation time and ω _{n -1} corresponding to the ω _n.

In step S107, the subject angular velocity setting unit 603 determines whether or not a singular point corresponding to? = 0 degrees is detected. If this singular point is detected, the subject angular velocity setting unit 603 proceeds to step S108, and if not, proceeds to step S111.

In step S108, the subject angular velocity setting unit 603 sets the angular velocity of the object relative to the relative object angular velocity (hereinafter referred to as " symmetric ") angular velocity which is symmetric with the relative object angular velocity at the midpoint of the exposure period, Quot; history angular velocity "). When the angular velocity history includes the symmetric history angular velocity, the subject angular velocity setting unit 603 proceeds to step S109, and if not, proceeds to step S110.

11 shows the symmetry history angular velocity. The period during which the angular velocity history is accumulated is called the " history accumulation period ". Since the history accumulation period 1 shown in Fig. 11 is shorter than t _lag + t _c on the right side of the origin A, the angular velocity history does not include the symmetric history angular velocity. On the other hand, since the history accumulation period 2 is longer than t _lag + t _c , which is further to the right than the origin A, the angular velocity history includes the symmetric history angular velocity.

In step S109, the subject angular velocity setting unit 603 sets the symmetric history angular velocity as the relative subject angular velocity omega in the exposure period.

In step S110, the subject angular velocity setting unit 603 sets the relative subject angular velocity omega in the exposure period using equation (2) in which the weight W is 1 or more.

In step S111, the subject angular velocity setting unit 603 determines whether or not a singular point corresponding to? = -30 占 is detected. If this singular point is detected, the subject angular velocity setting unit 603 proceeds to step S112, and if not, proceeds to step S113.

In step S112, the subject angular velocity setting unit 603 sets the relative subject angular velocity omega in the exposure period using equation (2) in which the weight W is 1 or less.

In step S113, the subject angular velocity setting unit 603 sets the relative subject angular velocity omega in the exposure period using equation (2) in which the weight W is 1.

According to the present embodiment, even when the angular speed of the subject measured by the camera 100 changes, it is possible to realize the follow shot assist which enables a good follow shot with reduced blur on the subject.

[Example 2]

Next, a camera as an image pickup apparatus which is a second embodiment (second embodiment) of the present invention will be described. The configuration of the camera of this embodiment is the same as that of the camera 100 of the first embodiment. Accordingly, the components of the camera of this embodiment are indicated by the same reference numerals as those of the first embodiment.

In the first embodiment, the subject angular velocity calculating section 134 transmits the relative object angular velocity before the exposure period and the calculation time at which the relative angular velocity is calculated to the follow shot control section 132. When the follow shot control section 132 determines that the relative object angular velocity And sets of the calculation time are accumulated as the angular velocity history before the exposure period. In the second embodiment, in addition to the relative object angular velocity and the calculation time before the exposure period, the object angular velocity calculating section 134 calculates the angular velocity of the subject relative to the panning angle (distance information) θ to the follow shot control unit 132, and the follow shot control unit 132 accumulates sets of the relative object angular velocity, the calculation time, the object distance and the variation amount of the panning angle θ before the exposure period as the angular velocity history before the exposure period Will be described. The subject distance can be calculated from the information about the positions of the zoom lens 103 and the focus lens (not shown) in the photographing lens unit 101, for example. The variation amount of the panning angle? Can be calculated by integrating the angular velocity data. In this embodiment, an autofocus operation is performed to acquire the subject distance, whereby an accurate subject distance of a moving subject can be calculated by maintaining the in-focus state of the photographing lens unit 101 with respect to a moving subject have. Further, the subject distance may be obtained from the positional information acquired from the GPS provided on both the subject and the camera.

12 is a flowchart showing an angular velocity determination process (second process) performed by the subject angular velocity setting unit 603. The subject angular velocity setting unit 603 (that is, the camera microcomputer 130) executes this process according to a part of the follow shot assist control program described in the first embodiment.

In step S601, the subject angular velocity setting unit 603 receives the instruction to set the relative object angular velocity in the exposure period from the camera microcomputer 130. The subject angular velocity setting unit 603 previously sets the subject angular velocity calculating unit 134, And reads the stored angular velocity history before the exposure period.

 In step S602, the subject angular velocity setting unit 603 calculates the angular acceleration, which is the rate of change of the angular velocity of the subject, from the plurality of sets of the relative object angular velocity and the calculation time before exposure period included in the read angular velocity history before exposure period, It is determined whether or not the subject is performing a constant velocity linear motion from the calculation result. Specifically, the subject angular velocity setting unit 603 determines whether or not the time variation of the angular acceleration is equal to the graph of the angular acceleration shown in Fig. When the subject is performing a constant velocity linear motion, the subject angular velocity setting unit 603 proceeds to step S603. If the subject is not performing the constant velocity linear motion, the subject angular velocity setting unit 603 proceeds to step S604.

In step S603, the subject angular velocity setting unit 603 sets the following equation (3) using the subject distance in the latest two calculation times in the angular velocity history before the exposure period and the amount of change in the panning angle? (8) is used to calculate the relative object angular speed omega in the exposure period.

(3)

(3)

(4)

(4)

(5)

(5)

(6)

(6)

(7)

(7)

(8)

(8)

The symbols in the expressions (3) to (8) will be described with reference to Figs. 13A to 13D. L and v are the shortest distance from the camera 100 'of this embodiment to the moving locus of the constant velocity linear motion of the subject (i.e., the distance to the origin A) and the constant velocity linear motion of the subject Speed (subject speed). Here, t is the length of time from the point of time when the subject passed the origin A to the middle point of the exposure period, and m is the distance of the subject in a specific time (i.e., the calculation time at which the relative object angular velocity before the exposure period is calculated) n represents the subject distance in the time point before m (i.e., the previous calculation time at which the relative object angular velocity before the exposure period is calculated). Represents the amount of change of the panning angle? From the time point when the object distance is n (hereinafter referred to as "first time point") to the time point when the object distance is m (hereinafter referred to as "second time point"). D represents a movement distance from the first time point to the second time point, and t _f is a time length from the first time point to the second time point. t _lag represents the length of time from the second time point to the middle point of the exposure period.

인 경우를 나타내며, 도 13b는 식 (7)에 있어서

인 경우를 나타낸다.13A is a graph showing the relationship between

13B shows a case where the equation (7)

.

FIG. 13C shows the case of m? N in the equation (8), and FIG. 13D shows the case of m> n in the equation (8).

13A to 13D, the shortest distance L represented by the equation (4) is the similarity relationship (msin?: D = L: n) between the triangle having the sides msin? And D and the triangle having the sides L and n, Lt; / RTI > The moving distance D expressed by the equation (6) can be calculated by the Pythagorean theorem of the triangle having the sides msin &thetas; and the sides D in both Figs. 13A to 13D.

13A to 13C, the travel distance D can be calculated from:

.

.

13D, the travel distance D can be calculated from: < RTI ID = 0.0 >

.

.

In step S604, the subject angular velocity setting unit 603 uses the equation (2) described in the first embodiment to set the weight W to 1 to set the relative object angular velocity omega in the exposure period.

The present embodiment can calculate the relative object angular speed omega in the exposure period by acquiring the object distance at any two view points and the amount of change DELTA [theta] of the panning angle [theta] therebetween. Thus, even when the angular speed of the subject measured by the camera 100 'changes, it is possible to realize the follow shot assist which enables a good follow shot with reduced blur on the subject.

[Example 3]

Next, a camera as an image pickup apparatus which is a third embodiment (third embodiment) of the present invention will be described. The camera configuration of the present embodiment is common to the camera 100 of the first embodiment. Accordingly, the components of the camera of the present embodiment are denoted by the same reference numerals as those of the first embodiment.

Embodiments 1 and 2 have described the case where the relative object angular velocity during the exposure period is calculated only once before exposure and the follow shot assist is performed based on the calculated result. In this case, there is no problem if the exposure period is short, but if the exposure period becomes long, good follow shot assist can not be performed due to the change of the relative object angular velocity during the exposure period. Therefore, in the present embodiment, the relative object angular speed is continuously calculated (repeatedly updated) during the exposure period during the exposure period and the shift drive of the shift lens 104 is controlled in accordance with the latest calculation result, Thereby making it possible to perform good follow shot assist.

14 is a flowchart showing the follow shot auxiliary processing performed by the camera microcomputer 130 in the follow shot assist mode in this embodiment. The camera microcomputer 130 executes this processing in accordance with a follow shot assist control program which is a computer program. In Fig. 14, the steps common to those in the flow chart of Fig. 2 in Embodiment 1 are illustrated by the same step numbers as those in Fig. 2, and a description thereof is omitted.

In this embodiment, similarly to the first embodiment, the camera microcomputer 130 causes the subject angular velocity calculating unit 134 to calculate the relative subject angular velocity before the exposure period in step S206. After this process (first process), in step S701, the camera microcomputer 130 sets the angular speed of the subject relative to the subject before the exposure period calculated in step S206 and the calculation time thereof as the angular velocity history . When the relative object angular velocity in the exposure period is calculated by the method described in the second embodiment, the camera microcomputer 130 determines that the subject angular velocity setting unit 603 has set the angular velocity of the relative object before the calculated exposure period and the calculation time thereof , And also maintains the amount of change of the panning angle? From the subject distance in the calculation time and the previous calculation time of the relative object angular velocity before the exposure period.

The camera microcomputer 130 determines whether or not the subject angular velocity setting unit 603 calculates (sets) the relative subject angular velocity in the new exposure period during the exposure period (during recording for recording) after the exposure starts in step S209 . This process corresponds to the second process. The camera microcomputer 130 repeatedly updates the relative object angular speed during the exposure period by repeating the processing of step S702 until the exposure is completed in step S211. Then, in step S210, the camera microcomputer 130 determines whether or not the relative speed of the subject lens is changed in accordance with the relative object angular velocity during the updated exposure period, when the relative object angular velocity in the exposure period is updated in step S702 104).

The present embodiment repeatedly calculates the relative object angular velocity during the exposure period during the exposure period and performs the follow shot assist based on the relative object angular velocity in the newly calculated exposure period. That is, when the exposure period is longer than the predetermined period, the number of relative object angular velocities in the calculated exposure period is increased (i.e., the number of times of calculating the prediction information is increased) It is possible to perform a follow shot assist which enables a good follow shot with reduced shaking.

[Example 4]

Next, with reference to Fig. 15, a lens interchangeable camera system will be described as an image pickup apparatus that is a fourth embodiment (fourth embodiment) of the present invention. The interchangeable lens 140 is removably mounted to the interchangeable lens 141. [ In Fig. 15, components common to the camera 100 of the first embodiment shown in Fig. 3 are denoted by the same reference numerals as those of the first embodiment, and a description thereof will be omitted.

In the present embodiment, the camera microcomputer 144 in the camera 141 and the lens microcomputer 142 in the interchangeable lens 140 share the processes performed by the camera microcomputer 130 in the first embodiment I do. The lens microcomputer 142 and the camera microcomputer 144 perform serial communication for information transmission and reception through the mount contact portion 146 provided on the interchangeable lens 140 and the mount contact portion 147 provided on the camera 141 I do. The camera microcomputer 144 includes a shutter control section 133 and a subject angular velocity calculating section 134. [ The lens microcomputer 142 includes a phase stabilization control unit 131 and a follow shot control unit 132 '. The follow shot control unit 132 'is different from the follow shot control unit 132 of the first embodiment in that information is received by serial communication from the camera microcomputer 144 (subject angular velocity calculation unit 134). In this embodiment, the lens microcomputer 142 included in the interchangeable lens 140 corresponds to the controller, and the subject angular velocity calculating unit 134 as the calculator is included in the camera microcomputer 144. [

16 shows a configuration of a shift drive control system provided in the interchangeable lens 140; This system performs the shift drive control of the shift lens 104 in the follow shot assist mode in this embodiment. In Fig. 16, components common to the components shown in Fig. 6 of the first embodiment are denoted by the same reference numerals as those in the first embodiment, and a description thereof will be omitted.

The follow shot control unit 132 'includes a camera information acquisition unit 611, an angular velocity data output unit 612, a subject angular velocity setting unit 613, a second adder 604, and a second integrator 605 .

The camera information acquisition unit 611 acquires the follow shot setting information and the release information described in the first embodiment from the camera microcomputer 144 through the communication control unit 614. [ The angular velocity data output unit 612 samples the angular velocity data described in Embodiment 1 at predetermined times and supplies the sampled angular velocity data to the subject angular velocity calculating unit 134 in the camera microcomputer 144 via the communication control unit 614. [ .

The subject angular velocity setting unit 613 receives information transmitted from the subject angular velocity calculating unit 134 in the camera microcomputer 144 through the communication control unit 614. [ The information to be transmitted includes the relative object angular speed before the exposure period calculated by the subject angular velocity calculating section 134 before the exposure and the delay time from the calculation time (acquisition time) to the communication time at which this information is transmitted to the subject angular velocity setting section 613 (Or a plurality of sets). The object angular velocity setting unit 613 converts the received delay time into a lens side calculation time as the internal time of the lens microcomputer 142 and calculates the angular velocity of the lens microcomputer 142 based on this calculated time and a plurality of sets of relative object angular velocities before the received exposure period (Accumulates) the information as the angular velocity history before the exposure period. Then, the subject angular velocity setting unit 613 sets (estimates) the relative object angular velocity during the exposure period using the angular velocity history before the exposure period.

17 is a flowchart showing a follow shot assistant process performed by the camera microcomputer 144 in the follow shot assist mode. The camera microcomputer 144 executes this processing in accordance with a camera side follow shot assist control program which is a computer program. 17, the steps common to those of the flow chart of Fig. 2 in the first embodiment are illustrated by the same step numbers as those in Fig. 2, and a description thereof will be omitted.

In step S206, the camera microcomputer 144 causes the subject angular velocity calculating unit 134 to calculate the relative subject angular velocity before the exposure period. After this processing (first processing), in step S801, the camera microcomputer 144 sets information including sets of the relative object angular speed before the calculated exposure period and the delay time from the calculated time to the present time, And transmits it to the microcomputer 142.

Thereafter, when SW2ON is performed in step S208, the camera microcomputer 144 transmits time information of exposure start to the lens microcomputer 142 and performs exposure of the image sensor 112 in step S802. After the exposure is completed, the camera microcomputer 144 transmits the exposure end time information to the lens microcomputer 142 in step S803. Thereafter, the camera microcomputer 144 proceeds to step S212.

18 is a flowchart showing the follow shot auxiliary processing that the lens microcomputer 142 performs in the follow shot assist mode. The lens microcomputer 142 executes this processing in accordance with the lens side follow shot assist control program which is a computer program.

In step S901, the lens microcomputer 142 determines whether it has received information from the camera microcomputer 144, including sets of relative object angular velocities and delay times before the exposure period. When the information is received, the lens microcomputer 142 proceeds to step S902, and if not, repeats the processing of this step.

In step S902, the lens microcomputer 142 maintains the relative object angular speed before the received exposure period.

Subsequently, in step S903, the lens microcomputer 142 calculates the lens side calculation time of the relative object angular speed before the exposure period from the delay time received in step S901, and sets the lens side calculation time of the relative object angular speed before the exposure period As an angular velocity history before the exposure period.

In step S904, the lens microcomputer 142 sets the relative object angular velocity (relative object angular velocity in the exposure period) at the midpoint of the exposure period. The lens microcomputer 142 performs this setting by the angular velocity setting processing (second processing) described in the first embodiment using the flowchart shown in Fig. Further, the lens microcomputer 142 receives the information on the subject distance and the amount of change in the panning angle? From the camera microcomputer 144 by performing the above-described angular velocity determination processing described in Embodiment 2 with reference to Fig. 12 It is possible.

Next, in step S905, the lens microcomputer 142 determines whether or not the exposure start time information has been received from the camera microcomputer 144. [ When the exposure start time information is received, the lens microcomputer 142 proceeds to step S906, and if not, returns to step S901.

In step S906, similarly to step S210 shown in Fig. 2 in the first embodiment, the lens microcomputer 142 shifts the shift lens 104 through the follow shot control unit 132 so as to correct the amount of displacement on the image- And controls the driving. At the same time, when it is determined in the first embodiment that high-speed panning is being performed as in step S502 shown in Fig. 5, the lens microcomputer 142 causes the image stabilization control unit 131 to perform image stabilization caused by camera shaking And controls the shift drive of the shift lens 104 to correct the shift.

In step S907, the lens microcomputer 142 determines whether or not exposure end time information has been received from the camera microcomputer 144. [ When the exposure end time information is received, the lens microcomputer 142 returns to step S901, and if not, returns to step S906 to continue the follow shot assist processing.

This embodiment enables a lens interchangeable camera system to perform a follow shot assist similar to that described in the first or second embodiment.

The lens microcomputer 142 performs the processing in step S904 in Fig. 18 before step S906 when the interchangeable lens 140 performs the similar follow shot assist as described in the third embodiment, and in step S907, If the information is not received, the process returns to step S904.

In this embodiment, the camera microcomputer 144 transmits to the lens microcomputer 142 the delay time from the calculation time of the relative object angular speed before the exposure period to its communication time, and when the lens microcomputer 142 detects the delay time And the lens side calculation time is calculated from the lens side calculation time. However, when the internal time of the lens microcomputer 142 and the internal time of the camera microcomputer 144 match in advance, and the camera microcomputer 144 causes the lens microcomputer 142 to calculate the relative object angular speed before the exposure period and its calculation time May be used.

[Example 5]

Next, a lens interchangeable camera system as an image pickup apparatus according to a fifth embodiment (Embodiment 5) of the present invention will be described. Components common to the interchangeable lens 140 and the camera 141 of the fourth embodiment shown in Figs. 15 and 16 are denoted by the same reference numerals as those of the fourth embodiment, and a description thereof will be omitted.

Embodiment 4 describes a case where the lens microcomputer 142 calculates the relative object angular velocity during the exposure period. The fifth embodiment describes a case where the camera microcomputer 144 calculates the relative object angular velocity during the exposure period do. Specifically, the camera microcomputer 144 creates a list of the relative object angular velocities during the exposure period considering the time lag up to the start time of exposure, and the number corresponds to the number of shift driving times of the shift lens 104 . The camera microcomputer 144 transmits the list to the lens microcomputer 142. [

Fig. 19 is a flowchart showing the follow shot auxiliary processing that the camera microcomputer 144 performs in the follow shot assist mode in this embodiment. The camera microcomputer 144 executes this processing in accordance with a camera side follow shot assist control program which is a computer program. In FIG. 19, the steps common to those in the flowchart of FIG. 17 in Embodiment 4 are illustrated by the same step numbers as those in FIG. 17, and a description thereof is omitted.

In step S1001, the camera microcomputer 144 maintains the relative object angular speed before the exposure period calculated in step S206 (first process).

Next, in step S1002, the camera microcomputer 144 performs a process (second process) similar to that of step S207 described in the first embodiment with reference to Fig. 2 to calculate the relative object angular speed during the exposure period. However, in this step, the camera microcomputer 144 creates a list including relative object angular velocities during a plurality of exposure periods for predetermined periodic times of the shift operation of the shift lens 104, And transmits it to the computer 142.

For example, when the exposure period is 1/100 second and the shift drive period of the shift lens 104 is 1 kHz, the shift lens 104 is driven 10 times within the exposure period. Accordingly, the camera microcomputer 144 calculates the relative object angular velocity during the exposure period for each of the ten shift driving times, and outputs the list including the relative object angular velocity during the calculated ten exposure periods to the lens microcomputer 142. [ .

In the present embodiment, the subject angular velocity calculating section 134 in the camera microcomputer 144 calculates the relative angular velocities of the subject during the exposure period and creates a list of them. That is, the camera microcomputer 144 corresponds to the calculator, and the lens microcomputer 142 corresponds to the controller.

20 is a flowchart showing a follow shot assistant process performed by the lens microcomputer 142 in the follow shot assist mode. The lens microcomputer 142 executes this processing in accordance with a follow shot assist control program which is a computer program. In Fig. 20, the steps common to those in the flowchart of Fig. 18 in Embodiment 4 are illustrated by the same step numbers as those in Fig. 18, and a description thereof will be omitted.

In step S1101, the lens microcomputer 142 determines whether or not the camera microcomputer 144 has received the list of relative object angular velocities during the exposure period. When the list is received, the lens microcomputer 142 proceeds to step S905, and if not, repeats the processing of this step.

The lens microcomputer 142 that has received the exposure start time information from the camera microcomputer 144 in step S905 determines in step S1102 the shift start time of each shift lens 104 from the list received in step S1101 The relative object angular velocity during the exposure period is read. Then, the lens microcomputer 142 sets the relative object angular velocities in the exposure periods to be used for the respective shift driving times, in order from the earliest shift driving time.

Next, in step S1103, the lens microcomputer 142 causes the follow shot control unit 132 'to control the shift drive of the shift lens 104 in accordance with the relative object angular speed during the exposure period determined in step S1102. In the control of the shift drive, the lens microcomputer 142 changes the relative object angular speed during the exposure period used in each of the shift drive times of the shift lens 104 in the order set in step S1102. That is, the relative object angular speed during the exposure period is sequentially updated.

If it is determined that high-speed panning is being performed in the same manner as in step S502 shown in Fig. 5 in the first embodiment under the control of the shift drive, the lens microcomputer 142 drives the camera through the image stabilization control unit 131 The shift lens 104 is shifted to correct the image shake caused by the shift. The lens microcomputer 142 repeats the above processes until the end of exposure (step S907). Thus, this embodiment can cope with a change in the subject angular velocity during exposure.

In the present embodiment, the camera and the lens microcomputers 144 and 142 transmit and receive the list of the angular velocities of the object during the exposure period as data, but the transmission and reception of the relative object angular velocity and the relative object angular velocity at the start of exposure, It is possible to cope with a change in the subject angular velocity. FIG. 21 is a flowchart showing a follow shot auxiliary process performed by the camera microcomputer 144 in the follow shot assist mode, which is a modification of the present embodiment. In Fig. 21, the steps common to those of the flowchart of Fig. 19 are illustrated by the same step numbers as those in Fig. 19, and a description thereof is omitted.

In step S1202, the camera microcomputer 144, which has stored the angular speed of the relative object in the exposure period calculated in step S206 in step S1001, calculates the relative object angular speed in a plurality of exposure periods in the same manner as in step S1002 in Fig. Then, the camera microcomputer 144 calculates the relative object angular velocity, which is the estimated acceleration, as the predicted information of the relative object angular velocity at the start of exposure and the motion of the object with respect to the camera, using the relative object angular velocity during the plurality of exposure periods. The camera microcomputer 144 transmits information including the relative object angular velocity and the relative object angular acceleration at the start of exposure to the camera microcomputer 144. [ Thereafter, the camera microcomputer 144 proceeds to step S208 and subsequent steps.

22 is a flowchart showing a follow shot auxiliary processing that the lens microcomputer 142 performs in the follow shot assist mode in this modification. In Fig. 22, steps common to those of the flowchart of Fig. 20 are illustrated by the same step numbers as those in Fig. 20, and a description thereof will be omitted.

In step S1301, the lens microcomputer 142 determines whether or not information including the relative object angular velocity and relative object angular acceleration at the start of exposure is received from the camera microcomputer 144. [ When the information is received, the lens microcomputer 142 proceeds to step S905, and if not, repeats the processing of this step.

The lens microcomputer 142 determines that the exposure has started in step S905, and proceeds to step S1302. In step S1302, the camera microcomputer 144 determines whether or not each of the shift motions of the shift lens 104 is performed using the relative object angular velocity at the start of exposure, the received relative object angular acceleration and the elapsed time after the exposure start time, The relative object angular speed during the exposure period for predetermined periodic times (correction times) is set.

Then, in step S1103, the lens microcomputer 142 determines whether or not the follow shot control section 132 ', in accordance with the relative object angular velocity for each of the correction times set in step S1302, 104). Thus, the relative object angular velocity during the exposure period is updated in sequence.

In this control of the shift drive, if it is determined that high-speed panning is being performed as in step S502 shown in Fig. 5 in the first embodiment, the lens microcomputer 142 causes the image stabilization control unit 131 The shift lens 104 is shifted to correct the image shake. The lens microcomputer 142 repeats the above processing until the end of exposure (step S907). Thus, this embodiment can cope with a change in the subject angular velocity during exposure.

This embodiment makes it possible for the interchangeable lens camera system to perform favorable follow shot assist with reduced fluctuation on the subject even when the relative object angular velocity changes during the exposure period.

Although the above embodiments have been described with respect to the case where the follow-shot assist and the correction of the image shake with respect to the camera shake are performed by shifting the shift lens 104 constituting a part of the photographing lens unit 101, The shake correction may be performed by shifting the entire imaging lens unit or by shifting the image sensor 112 as an optical element (shiftable element).

Other Embodiments

Embodiments of the present invention may also be embodied by reading computer-executable instructions recorded on a storage medium (e.g., non-volatile computer-readable storage medium) to perform the functions of one or more of the embodiments of the invention described above By reading and executing computer-executable instructions from a storage medium in order to perform the functions of, for example, one or more embodiments of the above-described embodiment (s), the system or apparatus May be implemented by a method performed by a computer of the user. The computer may include one or more of a central processing unit (CPU), a micro processing unit (MPU), or other circuitry and may comprise a network of individual computers or individual computer processors. The computer-executable instructions may be provided to the computer, for example, from a network or storage medium. The storage medium may be, for example, a hard disk, a random access memory (RAM), a read only memory (ROM), a storage device of a distributed computing system, an optical disk (e.g., a compact disk (CD), a digital versatile disk ), Or a Blu-ray Disc (BD ™)), a flash memory device, a memory card, and the like.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims (37)

An imaging device configured to perform imaging of a subject,
(A) first motion information obtained from a first detector for detecting a motion of the imaging device, and (b) motion information for detecting motion of an image of the main object, A controller configured to control the optical element using second motion information obtained from the second detector; And
And a calculation unit configured to calculate prediction information on the speed of the image of the main subject during the exposure period using the second motion information detected at different times before the exposure period for imaging the main subject,
Wherein the prediction information includes a change in the speed calculated from a speed of the image of the main subject before the exposure period,
Wherein the control unit is configured to use the prediction information to control the optical element during the exposure period in the follow shot mode to obtain a shot image in which the main subject is still in the shot image and the background is flowing,
Wherein the control unit is configured not to use the prediction information to control the optical element during the exposure period in an imaging mode other than the follow shot mode,
. The method according to claim 1,
The calculating unit calculates,
Angular velocity information of the image of the main subject before the exposure period;
Angle acceleration information of the image of the main subject before the exposure period;
A calculation time at which the angular velocity information and the angular velocity information are calculated; And
The start time at which the exposure period starts
To calculate the prediction information,
. The method according to claim 1,
Wherein the calculating unit is configured to calculate the prediction information by using a change in angular acceleration depending on a position of the main subject with respect to a position of the imaging device,
. The method of claim 3,
Wherein the calculating unit is configured to calculate the position of the main object with respect to the position of the image pickup apparatus using distance information based on a distance from the image pickup apparatus to the main object,
. The method according to claim 1,
Wherein the calculating unit is configured to increase the number of times of calculating the prediction information used to control the optical element when the exposure period is longer than a predetermined time,
. The method according to claim 1,
Wherein the control unit is configured to use (a) the prediction information and (b) the first motion information obtained during the exposure period to control the optical element during the exposure period,
. A control method for an imaging apparatus configured to perform imaging of a subject,
(A) first motion information obtained from a first detector for detecting a motion of the imaging device, and (b) motion information for detecting motion of an image of the main object, Controlling the optical element using second motion information obtained from the second detector; And
And calculating prediction information on the speed of the image of the main subject during the exposure period using the second motion information detected at different times before the exposure period for imaging the main subject,
Wherein the prediction information includes a change in the speed calculated from a speed of the image of the main subject before the exposure period,
The method includes the steps of controlling the optical element during the exposure period using the prediction information in the follow shot mode to obtain a shot image in which the main subject is still in the shot image and the background is flowing,
The method includes the steps of controlling the optical element during the exposure period without using the prediction information in an imaging mode other than the follow shot mode,
A control method of an image pickup apparatus. 8. The method of claim 7,
The method includes the steps of (a) using the prediction information obtained during the exposure period and (b) using the first motion information to control the optical element during the exposure period,
A control method of an image pickup apparatus. A non-transitory computer readable recording medium storing a control program which is a computer program for operating a computer of an imaging apparatus configured to perform imaging of a subject,
Wherein the control program causes the computer to:
(A) first motion information obtained from a first detector for detecting a motion of the imaging device, and (b) motion information for detecting motion of an image of the main object, 2 detector using the first motion information, the second motion information obtained from the second detector,
The prediction information for the speed of the image of the main subject during the exposure period is calculated using the second motion information detected at different times before the exposure period for imaging the main subject,
Wherein the prediction information includes a change in the speed calculated from a speed of the image of the main subject before the exposure period,
The control program causes the computer to control the optical element during the exposure period using the prediction information in a follow shot mode to obtain a shot image in which the main subject is still in the shot image and the background is flowing,
Wherein the control program causes the computer to control the optical element during the exposure period without using the prediction information in an imaging mode other than the follow shot mode,
Non-transitory computer readable recording medium. 10. The method of claim 9,
Wherein the control program causes the computer to control the optical element during the exposure period using (a) the prediction information obtained during the exposure period and (b) the first motion information,
Non-transitory computer readable recording medium. The method according to claim 1,
Wherein the control unit is configured to calculate the prediction information by using a time length from a time point when the second motion information was last detected before the exposure period to a midpoint of the exposure period,
. An imaging device configured to perform imaging of a subject,
(a) using the first motion information obtained from the first detector for detecting the motion of the image pickup device and (b) the second motion information obtained from the second detector for detecting the motion of the image of the main object, ; And
And a calculating unit configured to calculate the prediction information on the motion of the image of the main subject during the exposure period using the second motion information detected before the exposure period for imaging the main subject,
Wherein the control unit is configured to use the prediction information to control the optical element during the exposure period in the follow shot mode to obtain a shot image in which the main subject is still in the shot image and the background is flowing,
Wherein the control unit is configured not to use the prediction information to control the optical element during the exposure period in the photographing mode other than the follow shot mode,
Wherein the second motion information includes information about an acceleration calculated using information on a speed detected at different times before the exposure period,
. 13. The method of claim 12,
The calculating unit calculates,
Angular velocity information of the image of the main subject before the exposure period;
Angle acceleration information of the image of the main subject before the exposure period;
A calculation time at which the angular velocity information and the angular velocity information are calculated; And
The start time at which the exposure period starts
To calculate the prediction information,
. 13. The method of claim 12,
Wherein the calculating unit is configured to calculate the prediction information by using a change in angular acceleration depending on a position of the main subject with respect to a position of the imaging device,
. 15. The method of claim 14,
Wherein the calculating unit is configured to calculate the position of the main object with respect to the position of the image pickup apparatus using distance information based on a distance from the image pickup apparatus to the main object,
. 13. The method of claim 12,
Wherein the calculating unit is configured to increase the number of times of calculating the prediction information used to control the optical element when the exposure period is longer than a predetermined time,
. 13. The method of claim 12,
Wherein the control unit is configured to use (a) the prediction information and (b) the first motion information obtained during the exposure period to control the optical element during the exposure period,
. 13. The method of claim 12,
Wherein the control unit is configured to calculate the prediction information by using a time length from a time point when the second motion information was last detected before the exposure period to a midpoint of the exposure period,
. A control method for an imaging apparatus configured to perform imaging of a subject,
(a) using the first motion information obtained from the first detector for detecting the motion of the image pickup device and (b) the second motion information obtained from the second detector for detecting the motion of the image of the main object, ; And
And calculating prediction information on the motion of the image of the main subject during the exposure period using the second motion information detected before the exposure period for imaging the main subject,
The method includes the steps of controlling the optical element during the exposure period using the prediction information in the follow shot mode to obtain a shot image in which the main subject is still in the shot image and the background is flowing,
The method includes the steps of controlling the optical element during the exposure period without using the prediction information in an imaging mode other than the follow shot mode,
Wherein the second motion information includes information about an acceleration calculated using information on a speed detected at different times before the exposure period,
A control method of an image pickup apparatus. A non-transitory computer readable recording medium storing a control program which is a computer program for operating a computer of an imaging apparatus configured to perform imaging of a subject,
Wherein the control program causes the computer to:
(a) using the first motion information obtained from the first detector for detecting the motion of the image pickup device and (b) the second motion information obtained from the second detector for detecting the motion of the image of the main object, and,
And the second motion information detected before the exposure period for imaging the main subject is used to calculate the prediction information on the motion of the image of the main subject during the exposure period,
The control program causes the computer to control the optical element during the exposure period using the prediction information in a follow shot mode to obtain a shot image in which the main subject is still in the shot image and the background is flowing,
The control program causes the computer to control the optical element during the exposure period without using the prediction information in the photographing mode other than the follow shot mode,
Wherein the second motion information includes information about an acceleration calculated using information on a speed detected at different times before the exposure period,
Non-transitory computer readable recording medium. 13. The method of claim 12,
Wherein the information about the speed is angular velocity information, and the information about the acceleration is information about angular acceleration,
. 20. The method of claim 19,
Wherein the information about the speed is angular velocity information, and the information about the acceleration is information about angular acceleration,
A control method of an image pickup apparatus. 21. The method of claim 20,
Wherein the information about the speed is angular velocity information, and the information about the acceleration is information about angular acceleration,
Non-transitory computer readable recording medium. An imaging device configured to perform imaging of a subject,
(A) first motion information obtained from a first detector for detecting a motion of the imaging device, and (b) second motion information obtained from a second motion information detecting means for detecting a motion of the subject, A control unit configured to control the optical element using second motion information obtained from the detector; And
And a calculating unit configured to calculate prediction information on the speed of the image of the subject during the exposure period using the second motion information detected at different times before the exposure period for imaging the subject,
Wherein the prediction information includes a change in the speed calculated from a speed of the image of the subject before the exposure period,
Wherein the prediction information includes a change in motion calculated from the motion of the imaging device before the exposure period,
Wherein the control unit is configured to use the prediction information to control the optical element during the exposure period,
. An imaging device configured to perform imaging of a subject,
(a) using the first motion information obtained from the first detector for detecting the motion of the image pickup apparatus and (b) the second motion information obtained from the second detector for detecting the motion of the image of the object, ; And
Wherein the first motion information detected during an exposure period for taking an image of the subject and the second motion information detected at different times before the exposure period are used to predict a motion of the image of the subject during the exposure period And a calculation unit configured to calculate information,
Wherein the control unit is configured to use the prediction information to control the optical element during the exposure period,
Wherein the first motion information includes information about a speed detected during the exposure period,
Wherein the second motion information includes information about an acceleration calculated using information on a speed detected at different times before the exposure period,
. A control method for an imaging apparatus configured to perform imaging of a subject,
(A) first motion information obtained from a first detector for detecting a motion of the imaging device, and (b) second motion information obtained from a second motion information detecting means for detecting a motion of the subject, Controlling the optical element using second motion information obtained from the detector; And
And calculating prediction information on the speed of the image of the subject during the exposure period using the second motion information detected at different times before the exposure period for imaging the subject,
Wherein the prediction information includes a change in the speed calculated from a speed of the image of the subject before the exposure period,
Wherein the prediction information includes a change in motion calculated from the motion of the imaging device before the exposure period,
The method includes the steps of controlling the optical element during the exposure period using the prediction information,
A control method of an image pickup apparatus. A non-transitory computer readable recording medium storing a control program which is a computer program for operating a computer of an imaging apparatus configured to perform imaging of a subject,
Wherein the control program causes the computer to:
(A) first motion information obtained from a first detector for detecting a motion of the imaging device, and (b) second motion information obtained from a second motion information detecting means for detecting a motion of the subject, The optical element is controlled using the second motion information obtained from the detector,
The second motion information detected at different times before the exposure period for imaging of the object is used to calculate the prediction information on the speed of the image of the subject during the exposure period,
Wherein the prediction information includes a change in the speed calculated from a speed of the image of the subject before the exposure period,
Wherein the prediction information includes a change in motion calculated from the motion of the imaging device before the exposure period,
Wherein the control program causes the computer to control the optical element during the exposure period using the prediction information,
Non-transitory computer readable recording medium. A control method for an imaging apparatus configured to perform imaging of a subject,
(a) using the first motion information obtained from the first detector for detecting the motion of the image pickup apparatus and (b) the second motion information obtained from the second detector for detecting the motion of the image of the object, ; And
Wherein the first motion information detected during an exposure period for taking an image of the subject and the second motion information detected at different times before the exposure period are used to predict a motion of the image of the subject during the exposure period Comprising the steps of:
The method includes controlling the optical element during the exposure period using the prediction information,
Wherein the first motion information includes information about a speed detected during the exposure period,
Wherein the second motion information includes information about an acceleration calculated using information on a speed detected at different times before the exposure period,
A control method of an image pickup apparatus. A non-transitory computer readable recording medium storing a control program which is a computer program for operating a computer of an imaging apparatus configured to perform imaging of a subject,
Wherein the control program causes the computer to:
(a) using the first motion information obtained from the first detector for detecting the motion of the image pickup apparatus and (b) the second motion information obtained from the second detector for detecting the motion of the image of the object, and,
Wherein the first motion information detected during an exposure period for taking an image of the subject and the second motion information detected at different times before the exposure period are used to predict a motion of the image of the subject during the exposure period Information,
The control program causing the computer to control the optical element during the exposure period using the prediction information,
Wherein the first motion information includes information about a speed detected during the exposure period,
Wherein the second motion information includes information about an acceleration calculated using information on a speed detected at different times before the exposure period,
Non-transitory computer readable recording medium. An imaging device configured to perform imaging of a subject,
(A) first motion information obtained from a first detector for detecting a motion of the imaging device, and (b) second motion information obtained from a second motion information detecting means for detecting a motion of the subject, A control unit configured to control the optical element using second motion information obtained from the detector; And
And a calculating unit configured to calculate prediction information on the speed of the image of the subject during the exposure period using the second motion information detected before the exposure period for imaging the subject,
Wherein the prediction information includes a change in the speed calculated from a speed of the image of the subject before the exposure period,
Wherein the second detector is configured to detect the image of the subject to generate the imaging of the subject,
Wherein the control unit is configured to use the prediction information to control the optical element during the exposure period,
. An imaging device configured to perform imaging of a subject,
(a) using the first motion information obtained from the first detector for detecting the motion of the image pickup apparatus and (b) the second motion information obtained from the second detector for detecting the motion of the image of the object, ; And
And a calculating unit configured to calculate the prediction information on the motion of the image of the subject during the exposure period using the second motion information detected before the exposure period for imaging the subject,
Wherein the second detector is configured to detect the image of the subject to generate the imaging of the subject,
Wherein the control unit is configured to use the prediction information to control the optical element during the exposure period,
Wherein the second motion information includes information about a velocity,
Wherein the prediction information includes information on an acceleration calculated using information on a speed detected at different times before the exposure period,
. A control method for an imaging apparatus configured to perform imaging of a subject,
(A) first motion information obtained from a first detector for detecting a motion of the imaging device, and (b) second motion information obtained from a second motion information detecting device for detecting a motion of the subject, Controlling the optical element using second motion information obtained from the detector; And
And calculating prediction information on the speed of the image of the subject during the exposure period using the second motion information detected before the exposure period for imaging the subject,
Wherein the prediction information includes a change in the speed calculated from a speed of the image of the subject before the exposure period,
Wherein the second detector is configured to detect the image of the subject to generate the imaging of the subject,
The method includes the steps of controlling the optical element during the exposure period using the prediction information,
A control method of an image pickup apparatus. A non-transitory computer readable recording medium storing a control program which is a computer program for operating a computer of an imaging apparatus configured to perform imaging of a subject,
Wherein the control program causes the computer to:
(A) first motion information obtained from a first detector for detecting a motion of the imaging device, and (b) second motion information obtained from a second motion information detecting device for detecting a motion of the subject, The optical element is controlled using the second motion information obtained from the detector,
The second motion information detected before the exposure period for imaging of the object is used to calculate the prediction information on the speed of the image of the subject during the exposure period,
Wherein the prediction information includes a change in the speed calculated from a speed of the image of the subject before the exposure period,
Wherein the second detector is configured to detect the image of the subject to generate the imaging of the subject,
Wherein the control program causes the computer to control the optical element during the exposure period using the prediction information,
Non-transitory computer readable recording medium. A control method for an imaging apparatus configured to perform imaging of a subject,
(a) using the first motion information obtained from the first detector for detecting the motion of the image pickup apparatus and (b) the second motion information obtained from the second detector for detecting the motion of the image of the object, ; And
And calculating prediction information on the motion of the image of the subject during the exposure period using the second motion information detected before the exposure period for imaging the subject,
The second detector detects the image of the subject so as to generate the image pickup of the subject,
The method includes controlling the optical element during the exposure period using the prediction information,
Wherein the second motion information includes information about a velocity,
Wherein the prediction information includes information on an acceleration calculated using information on a speed detected at different times before the exposure period,
A control method of an image pickup apparatus. A non-transitory computer readable recording medium storing a control program which is a computer program for operating a computer of an imaging apparatus configured to perform imaging of a subject,
Wherein the control program causes the computer to:
(a) using the first motion information obtained from the first detector for detecting the motion of the image pickup apparatus and (b) the second motion information obtained from the second detector for detecting the motion of the image of the object, and,
And the second motion information detected before the exposure period for the imaging of the object is used to calculate the prediction information on the motion of the image of the subject during the exposure period,
The second detector detects the image of the subject so as to generate the image pickup of the subject,
The control program causing the computer to control the optical element during the exposure period using the prediction information,
Wherein the second motion information includes information about a velocity,
Wherein the prediction information includes information on an acceleration calculated using information on a speed detected at different times before the exposure period,
Non-transitory computer readable recording medium. The method according to claim 1,
Further comprising a mode switch for switching the mode between the follow shot mode and the shooting mode,
. 13. The method of claim 12,
Wherein the control unit corrects the shake of the image of the subject caused by the shaking of the image pickup device caused by the camera shake in the image shake correction mode,
.

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