WO2007023663A1

WO2007023663A1 - Imaging device, image processing program, information recording medium containing the image processing program, image processing apparatus, and image processing method

Info

Publication number: WO2007023663A1
Application number: PCT/JP2006/315517
Authority: WO
Inventors: Kenichi Hayashi; Naoto Yumiki; Hironori Honsho
Original assignee: Matsushita Electric Industrial Co., Ltd.
Priority date: 2005-08-22
Filing date: 2006-08-04
Publication date: 2007-03-01

Abstract

A DSC (1) is equipped with an imaging optical system (L). The DSC comprises an imaging element (4) and a rotating image shake correction processor (60). The imaging element (4) captures an image formed through the imaging optical system (L) and outputs the image data obtained from the captured image. The rotating image shake correction processor (60) subjects the image data to a rotating image shake correction process for correcting an image shake caused by rotation around the optical axis of the imaging optical system (L).

Description

Imaging apparatus, image processing program, information recording medium recorded with the same, image processing apparatus, and image processing method

Technical field

The present invention relates to an imaging device (particularly an imaging device capable of correcting rotational image blur), an image processing program, an information recording medium on which the image recording program is recorded, an image processing device, and an image processing method.

Background art

[0002] In recent years, digital cameras with an image blur correction function (for example, digital still cameras, digital video cameras, etc.) have been introduced into the factory and are becoming popular. The image blur correction method that is currently mainstream is an optical image blur correction method. Specifically, the optical image blur correction method is a method in which an image blur correction lens in an imaging optical system is perpendicular to the optical axis by a driving amount calculated based on an output of an angle sensor mounted on an imaging device. In this method, image blur correction is performed by stabilizing the image forming position on the image sensor by driving in two directions (showing direction and pitching direction). According to this optical image blur correction method, it is possible to correct image blur in the laying direction and the pitching direction in real time during shooting.

[0003] Patent Document 1 discloses an image blur correction method based on image processing as an image blur correction method other than the optical image blur correction method.

Patent Document 1: Japanese Patent No. 3152750

Disclosure of the invention

[0004] —Solutions—

Depending on how the imaging apparatus is held, the imaging apparatus may oscillate or vibrate in the rotational direction relative to the optical axis (hereinafter, the “rotational direction relative to the optical axis” may be simply referred to as “rotational direction”). There is a fear. However, although the above-mentioned optical image blur correction and image blur correction by image processing can correct the image blur in the chowing direction and the pitching direction, the image blur in the rotation direction with respect to the optical axis is corrected. I can't do it. Therefore, there is a problem that a clear image with sufficiently reduced image blur cannot be obtained. The present invention has been made in view of the above points, and an object of the present invention is to provide an imaging apparatus capable of correcting image blur in the rotation direction.

[0006] Solution

As a result of sincerity research, the inventors of the present invention have one of the causes of image blurring in the rotation direction even when image capturing is performed with an image capturing apparatus capable of correcting image blur in a direction perpendicular to the optical axis. It was found that the cause is rocking or vibration. That is, the present inventors have found that image blur in the rotational direction has occurred and have achieved the present invention. That is, the present invention is characterized in that it is configured to be able to correct image blur in the rotation direction.

Specifically, a first imaging device according to the present invention includes an imaging optical system, an imaging element that captures an image formed by the imaging optical system, and outputs image data obtained by the imaging. The image data is provided with a rotation image blur correction processing unit that performs rotation image blur correction processing that corrects rotation image blur caused by rotation of the imaging optical system around the optical axis at the time of imaging. Features.

[0008] A second imaging device according to the present invention is an imaging device to which a lens barrel having an imaging optical system is attached and used. The second imaging device captures an image formed by the imaging optical system, and An image sensor that outputs image data obtained by imaging, and a rotation that applies image blur correction processing to the image data to correct rotational image blur caused by the imaging optical system rotating around its optical axis during imaging And an image blur correction processing unit.

[0009] A third imaging apparatus according to the present invention includes an imaging optical system, an imaging element that images an image formed by the imaging optical system, and outputs image data obtained by the imaging, and an imaging optical system A rotational angular velocity sensor that detects the rotational angular velocity around the optical axis, a computing unit that computes rotational image blur data corresponding to the rotational angular velocity from the rotational angular velocity, and image data and rotational image blur data The imaging optical system rotates around its optical axis during imaging based on the recording unit to be recorded and the rotated image blur data recorded in association with the image data in the image data recorded in the recording unit. And a rotation image blur correction processing unit that performs a rotation image blur correction process for correcting a rotation image blur caused by the rotation.

[0010] A fourth imaging device according to the present invention is an imaging device that is used with a lens barrel provided with an imaging optical system, and the lens barrel is a rotation angle around the optical axis of the imaging optical system. Speed A rotation angular velocity sensor that detects the degree of rotation, an image sensor that captures an image formed by the imaging optical system, and outputs the image data obtained by the imaging, and a rotation corresponding to the rotation angular velocity from the rotation angular velocity An image processing unit that calculates image blur data, a recording unit that records image data and rotated image blur data in association with each other, and a rotation recorded in association with image data in the image data recorded in the recording unit. A rotation image blur correction processing unit that performs a rotation image blur correction process that corrects a rotation image blur caused by the rotation of the imaging optical system around its optical axis based on the image blur data. It is characterized by having.

[0011] A fifth imaging device according to the present invention includes an imaging optical system, an imaging element that images an image formed by the imaging optical system, and outputs image data obtained by the imaging, and an imaging optical system A rotational angular velocity sensor that detects the rotational angular velocity around the optical axis, a computing unit that computes rotational image blur data corresponding to the rotational angular velocity from the rotational angular velocity, and image data and rotational image blur data And an output unit for outputting to the outside.

A sixth imaging device according to the present invention is an imaging device to which a lens barrel provided with an imaging optical system is attached, and the lens barrel is a rotation angle around the optical axis of the imaging optical system. A rotation angular velocity sensor that detects the speed, an image sensor that captures the image formed by the imaging optical system, and outputs the image data obtained by the imaging, and the rotation angular speed corresponding to the rotation angular speed An arithmetic unit that calculates rotational image blur data, and an output unit that outputs the image data and the rotational image blur data in association with each other are provided.

[0013] In addition, the first image processing program according to the present invention is an image in which rotation image blur is reduced by performing a process of correcting rotation image blur caused by rotation of the imaging optical system at the time of shooting on the image data. An image processing program for acquiring data, the step of acquiring rotational blur amount data, which is an angular change amount for each cycle, obtained by integrating the image data and the rotational angular velocity of the imaging optical system for each fixed cycle; Converting the image data into polar coordinates to form converted image data; calculating the image function by Fourier transforming the converted image data; and converting the rotational blur amount data into polar coordinates to convert the horizontal blur amount To calculate a blur transfer function representing the frequency distribution of the horizontal blur amount, and to convert the generated blur transfer function by Fourier transforming the generated blur transfer function. A step that to calculate the transfer function, inverse Fourier varying function obtained image function divided by the conversion blur transfer function And a step of acquiring image data with reduced rotational image blurring.

[0014] The second image processing program according to the present invention performs processing for correcting rotational image blur caused by rotation of the imaging optical system at the time of photographing on the image data, and outputs image data with reduced rotational image blur. An image processing program for obtaining image data and rotational blur data obtained by integrating the rotational angular velocity of the imaging optical system at regular intervals, and converting the rotational blur amount data, which is an angular change amount per cycle, into polar coordinates. A step of obtaining a blur transfer function representing a frequency distribution of the calculated horizontal blur amount, a step of converting image data into polar coordinates to form transformed image data, and a Fourier transform of the transformed image data A step of calculating a function, a step of calculating a converted blur transfer function by performing a Fourier transform on the acquired blur transfer function, and a function of converting the image function Characterized in that the rotating image blurring and a step of acquiring the image data which is reduced by the inverse Fourier transform function obtained by dividing the record transfer function.

[0015] An information recording medium according to the present invention records the first or second image processing program according to the present invention.

[0016] In addition, the first image processing apparatus according to the present invention performs processing for correcting rotational image blur caused by rotation of the imaging optical system at the time of photographing on the image data to reduce the rotational image blur. An image processing apparatus for acquiring data, which acquires rotational shake amount data, which is an angular change amount for each period obtained by integrating the rotational angular velocity of the imaging optical system for each fixed period, and provides rotational shake amount data. Is converted to polar coordinates to calculate a horizontal blur amount, and a blur amount data conversion unit that creates a blur transfer function that represents the frequency distribution of the horizontal blur amount, obtains image data, converts the image data to polar coordinates, An image function is calculated by forming converted image data and Fourier transforming the converted image data, obtaining a blur transfer function, and Fourier transforming the blur transfer function to obtain the converted blur transfer function. A rotation image blur correction processing unit that obtains image data with reduced rotation image blur by performing inverse Fourier transform on the function obtained by dividing the image function by the converted blur transfer function. Features.

[0017] In the second image processing apparatus according to the present invention, the imaging optical system rotates during image capturing. An image processing apparatus for obtaining image data with reduced rotational image blur by performing a process for correcting the rotational image blur caused by the rotation of the image pickup optical system, wherein the rotational angular velocity of the imaging optical system is set at a constant cycle. Obtain the blur transfer function and image data representing the frequency distribution of the horizontal blur amount, which is calculated by converting the rotational blur amount data, which is the amount of angular change per cycle obtained by integration, into polar coordinates, and convert the image data into polar coordinates. The transformed image data is transformed to form an image function by Fourier transforming the transformed image data, and the transformed blur transfer function is computed by Fourier transforming the blur transfer function, and the image function A rotation image blur correction processing unit is provided for acquiring image data with reduced rotation image blur by performing inverse Fourier transform on a function obtained by dividing by the converted blur transfer function. And wherein the Rukoto.

[0018] Further, the first image processing method according to the present invention is an image in which rotation image blur is reduced by performing a process of correcting rotation image blur caused by rotation of the imaging optical system at the time of shooting on the image data. An image processing method for acquiring data, the step of acquiring rotational shake amount data, which is an angular change amount for each cycle, obtained by integrating the image data and the rotational angular velocity of the imaging optical system for each fixed cycle. Converting the image data into polar coordinates to form converted image data; calculating the image function by Fourier transforming the converted image data; A step of calculating a blur amount and generating a blur transfer function representing a frequency distribution of the horizontal blur amount, and a Fourier transform of the generated blur transfer function to convert the converted blur transfer function. And a step of obtaining image data with reduced rotational image blur by performing inverse Fourier transform on a function obtained by dividing the image function by the transformed blur transfer function. .

[0019] In the second image processing method according to the present invention, the image data in which the rotation image blur is reduced by performing a process for correcting the rotation image blur generated by the rotation of the imaging optical system at the time of photographing on the image data. Image processing method for obtaining image data, and converting the rotation blur amount data, which is the amount of angular change per cycle, obtained by integrating the image data and the rotation angular velocity of the imaging optical system at regular intervals Obtaining a blur transfer function representing the frequency distribution of the horizontal blur amount calculated by A step of calculating an image function by Fourier transforming the converted image data, a step of calculating a converted blur transfer function by Fourier transforming the acquired blur transfer function, and an image Obtaining image data with reduced rotational image blur by performing inverse Fourier transform on the function obtained by dividing the function by the transformed blur transfer function.

Brief Description of Drawings

FIG. 1 is a block diagram showing a control system of DSC 1 in the first embodiment.

FIG. 2 is a top view and a rear view of DSC1.

FIG. 3 is an exploded perspective view for explaining a physical configuration around the second lens group L2 of the image blur correction unit 20. FIG.

FIG. 4 is a diagram schematically showing images before and after polar coordinate conversion.

FIG. 5 is a flowchart of a rotational image blur correction process in the first embodiment.

FIG. 6 is a block diagram showing a control system of DSC 81 in the second embodiment.

FIG. 7 is a block diagram showing a control system of DSC 82 in the third embodiment.

FIG. 8 is a schematic diagram showing a configuration of an image blur correction unit 20 in the third embodiment.

FIG. 9 is a configuration diagram of a PC 80 as an external arithmetic processing unit in the third embodiment.

FIG. 10 is a flowchart showing an image processing program recorded in a rotating image blur correction processing unit 60 of PC8O.

FIG. 11 is a block diagram showing a DSC control system according to a modification.

FIG. 12 is a configuration diagram of a PC 80 as an external arithmetic processing device in a modified example.

FIG. 13 is a flowchart showing an image processing program recorded in PC80.

BEST MODE FOR CARRYING OUT THE INVENTION

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

[0022] (Embodiment 1)

In the first embodiment, an example of a preferred embodiment of the present invention will be described in detail by taking a digital still camera (hereinafter sometimes referred to as “DSC”) 1 in which the present invention is implemented as an example.

FIG. 1 is a block diagram showing a control system of DSC 1 according to the first embodiment. FIG. 2 is a top view and a rear view of DSC1. Specifically, Fig. 2 (a) is a top view of DSC1. Figure 2 (b) is a rear view of DSC1.

FIG. 3 is an exploded perspective view for explaining a physical configuration around the second lens unit L2 of the image blur correction unit 20. FIG.

FIG. 5 is a flowchart of the rotation image blur correction process in the first embodiment.

As shown in FIG. 1, the DSC 1 includes a lens barrel 2 in which the imaging optical system L is housed, a calculation unit 3, an imaging device 4, an imaging device drive control unit 5, and an analog signal processing unit 6. An AZD conversion unit 7, a digital signal processing unit 8, a rotational image blur correction processing unit 60, a buffer memory 9, an image compression unit 10, an image recording control unit 11, an image recording unit 12, and an image The display control unit 13, the display unit 14, and the shake amount data conversion unit 61 are provided.

The imaging optical system L includes three lens groups (a first lens group Ll, a second lens group L2, and a third lens group L3. The first lens group L1 is mainly focused by being displaced in the optical axis AX direction. The third lens group L3 is a lens group mainly for zooming by displacing in the optical axis AX direction, and the second lens group L2 is the pitching direction and the winging direction. In this example, the imaging optical system L is configured by three lens groups, but the imaging optical system L has three functions. It is not always necessary to be constituted by a lens group, and may be constituted by two or one lens group, or three or more lens groups and another optical element such as a mirror or a prism.

[0030] Specifically, the second lens unit L2 decenters the optical axis AX of the light incident on the image sensor 4 by displacing in the pitching direction and the skewing direction in a plane perpendicular to the optical axis AX. It has a function to keep the position on the image sensor 4 of the image formed by the imaging optical system L substantially constant. That is, the second lens unit L2 has a function of preventing the position of the image formed by the imaging optical system on the imaging element 4 from moving. In other words, the optical axis of the light incident on the imaging optical system L and the optical axis of the imaging optical system L are suppressed from shifting.

[0031] In the case where the image blur correction lens group L2 is not provided, when mechanical vibration or shake by the photographer is applied to the DSC 1, the optical axis of light incident on the imaging optical system L from the subject is changed to that of the imaging optical system L. optical axis It fluctuates according to shaking and vibration. Therefore, the obtained image is blurred and blurred. On the other hand, in the DSC1 having the second lens unit L2 as an image blur correction lens, the optical axis of the light incident on the imaging optical system L and the optical axis of the imaging optical system L are not affected even if vibration or oscillation is applied to the DSC1. Deviations and fluctuations in the relative positional relationship are suppressed. Therefore, a clear image with reduced image blurring in the winging direction and the pitching direction can be obtained.

The computing unit 3 can be configured by a microcomputer, for example. Arithmetic unit 3 includes AZD conversion unit 18, digital signal processing unit 8, image sensor drive control unit 5, power switch 35, shutter operation unit 36, shooting Z playback switching operation unit 37, cross control key 38, MENU setting operation unit 39 The control unit is connected to the SET operation unit 40 and the like, and controls all the various control units of the DSC 1 based on signals input from these.

The shutter operation unit 36 transmits a timing signal to the calculation unit 3 according to the operation. The computing unit 3 outputs an instruction signal to a shutter control unit (not shown) in accordance with the timing signal received from the shutter operation unit 36. A shutter drive motor (not shown) is driven by the instruction signal, and a shutter (not shown) operates.

The image sensor 4 captures an image formed by the photographing optical system L, converts it into an electrical signal, and outputs it as image data. An imaging element drive control unit 5 connected to the calculation unit 3 is connected to the imaging element 4. The image sensor 4 is driven and controlled by the image sensor drive controller 5. The imaging device 4 can be constituted by a charge coupled device (CCD), a complementary metal oxide semiconductor (CMOS), or the like.

The image data output from the image sensor 4 is sent from the analog signal processing unit 6 to the AZD conversion unit 7, the digital signal processing unit 8, the rotation image blur correction processing unit 60, the buffer memory 9, and the image compression unit 10. Sequential input 'processing.

The analog signal processing unit 6 performs analog signal processing (for example, gamma processing) on the image data output from the image sensor 4. The AZD converter 7 digitizes image data that has been subjected to analog signal processing. The digital signal processing unit 8 performs digital signal processing (for example, noise removal and contour enhancement) on the digitized image data based on the signal from the calculation unit 3.

[0037] The calculation unit 3 sends to the rotation image blur correction processing unit 60 a rotation blur that is a type of rotation image blur data. Output quantity data. The rotation image blur correction processing unit 60 performs rotation image blur correction processing on the image data output from the digital signal processing unit 8 based on the rotation blur amount data.

[0038] The noffer memory 9 temporarily stores the image data that has undergone the rotation image blur correction process. The buffer memory 9 can be constituted by, for example, a RAM (Random Access Memory).

The image data stored in the buffer memory 9 is sequentially input 'processed into the image compression unit 10 and the image recording unit 12.

The image data stored in the buffer memory 9 is output to the image compression unit 10 in response to a command from the image recording control unit 11 connected to the calculation unit 3. In the image compression unit 10, the image data is compressed at a predetermined ratio, and image data having a data size smaller than the original data is created. At the same time, the image compression unit 10 also generates reduced image data corresponding to the captured image used for thumbnail display or the like. Thereafter, the compressed image data and the reduced image data are input to the image recording unit 12. Examples of the image data compression method include the JPEG (Joint Photographic Experts Group) method.

[0041] Based on a command from the image recording control unit 11, the image recording unit 12 converts image data into predetermined data (for example, corresponding reduced image data) and information (for example, when an image is captured). Date / time, focal length information, shutter speed information, aperture value information, shooting mode information, etc.).

The image display control unit 13 is controlled by a control signal from the calculation unit 3. In response to a command from the image display control unit 13, the display unit 14 displays the image data recorded in the buffer memory 9 as a visible image. The display unit 14 can display only image data. In addition to image data, information at the time of shooting (for example, focal length information, shutter speed information, aperture value information, shooting mode information, In-focus state information etc.) can also be displayed at the same time.

Next, the physical configuration of DSC 1 in Embodiment 1 will be described with reference to FIG. [0044] DSC1 includes a housing la. A lens barrel 2 including the imaging optical system L is disposed on the front surface of the housing la. On the back of the DSC1, a power switch 35, shooting Z playback switching operation section 37, cross control key 38, MENU setting operation section 39, SET operation section 40, and display section 14 that also has LCD monitor power are arranged. ing. A shutter operation unit 36 and a zoom operation unit 57 are arranged on the upper surface of the housing la. The zoom operation unit 57 is arranged around the shutter operation unit 36 so as to be rotatable about the same axis as the shutter operation unit 36. The power switch 35 is an operation member for turning the power of the DSC 1 on and off. The shooting Z playback switching operation section 37 is for switching between shooting mode and playback mode. Specifically, switching between the shooting mode and the playback mode is performed by rotating a lever. In the shooting mode, when the zoom operation unit 57 is rotated to the right, the imaging optical system L is controlled by the calculation unit 3 to the desired side (zoomed in). Further, when it is turned to the left, it is controlled to the wide angle side (zoomed out) by the calculation unit 3. The MENU setting operation unit 39 is for displaying various menus on the display unit 14. The cross-shaped operation key 38 is used for selecting by pressing the upper, lower, left and right parts from various operation menus displayed on the display unit 14 by the operation of the MENU setting operation unit 39. When various operation menus are selected by the cross operation key 38, the calculation unit 3 issues an execution command. The SET operation unit 40 is for returning the display of various operation menus to the state before display.

Next, a control system of the image blur correction unit 20 will be described with reference to FIG.

The image blur correction unit 20 includes a motion correction unit 15A, a motion detection unit 17A, and a signal processing unit 3A. The motion correction unit 15A controls the movement of the optical axis AX of the imaging light. Specifically, the motion correction unit 15A includes a second lens group L2, a bowing drive control unit 15x, a pitching drive control unit 15y, and a position detection unit 16. The second lens unit L2 is configured to be displaceable in the caming direction and the pitching direction in a plane perpendicular to the optical axis AX. The second lens unit L2 is driven and controlled in a two-way winging direction (X direction) and a pitching direction (Y direction) perpendicular to the optical axis AX by the winging drive control unit 15x and the pitching drive control unit 15y. By this drive control, the movement of the optical axis AX of the imaging optical system L is controlled.

[0047] The position detector 16 is a detecting means for detecting the displacement of the second lens group L2. The position detection unit 16 includes a second drive control unit 15x and a pitching drive control unit 15y together with the second lens. A feedback control loop for controlling the group L2 is formed.

[0048] The motion detection unit 17A includes a bowing angle sensor 17x, a pitching angle sensor 17y, and a mouth ring angle sensor (rotational angular velocity sensor) 17z (hereinafter referred to as "chowing angle sensor 17x, pitching angle sensor 17y, and The rolling angle sensor 17z ”may be referred to as“ angle sensors 17x, 17y, and 17z ”. The angle sensors 17x, 17y, and 17z are sensors that detect the displacement of the DSC 1 itself including the imaging optical system L due to camera shake and other vibrations and swings. Specifically, the bowing angle sensor 17x detects the displacement of the imaging optical system L in the bowing direction. The pitching angle sensor 17y detects the displacement of the imaging optical system L in the pitching direction. The rolling angle sensor 17z detects the displacement of the imaging optical system L in the rolling direction (the rotation direction of the imaging optical system L with respect to the optical axis AX).

[0049] Each angle sensor 17x, 17y, 17z outputs either one of positive and negative angle signals (displacement signals) depending on the direction in which DSC1 moves, using the output when DSCl is stationary as a reference. The angle signals output from the angle sensors 17x, 17y, and 17z are input to the signal processing unit 3A and processed in the signal processing unit 3A.

[0050] The signal processing unit 3A includes a calculation unit 3, AZD conversion units 18x, 18y, and 18z, and DZA conversion units 19x and 19y.

[0051] The displacement data signals output by the angle sensors 17x, 17y, and 17z are subjected to filter processing, amplifier processing, and the like, and then converted into digital signals by the AZD conversion units 18x, 18y, and 18z, respectively. Entered in 3. The calculation unit 3 performs various processes such as filtering, integration processing, phase compensation, gain adjustment, and clip processing on the displacement data signal input via the AZD conversion units 18x, 18y, and 18z. By performing each of these processes, the calculation unit 3 drives the second lens unit L2 necessary for correcting the image blur in the chowing direction and the pitching direction based on the values input from the AZD conversion units 18x and 18y. Calculates the control amount and generates a control signal. The generated control signal is converted into an analog signal by the DZA converters 19x and 19y. The control signal converted into the analog signal is output to the keying drive control unit 15x and the pitching drive control unit 15y. The sharing drive control unit 15x and the pitching drive control unit 15y drive the second lens unit L2 based on the input control signal. As a result, image blurring in the show direction and pitch direction is corrected. [0052] Further, the computing unit 3 computes rotational shake amount data around the optical axis AX sampled at a predetermined cycle based on the rotational angular velocity detected by the rolling angle sensor 17z. Specifically, the rotational angular velocity d Θ zZdt (where Θ z is an angle around the optical axis AX) converted into a digital signal is output from the AZD converter 18z. The computing unit 3 integrates the output rotational angular velocity d Θ z / dt at a predetermined period to calculate rotational shake amount data (angle change amount) ΔΘ z. The rotational shake amount data ΔΘz calculated in this way is output to the shake amount data converter 61.

Next, the physical configuration around the second lens group L2 of the image blur correction unit 20 in the present embodiment will be described in detail with reference to FIG. The second lens unit L2 as the image blur correcting lens unit is attached to the pitching holding frame 21. The pitching holding frame 21 is provided with two pitching shafts 23a and 23b that are parallel to each other in the pitching direction (Y direction). The pitching shafts 23a and 23b are attached to a winging holding frame 22 provided so as to face the pitching holding frame 21 so as to be slidable in the pitching direction (Y direction). That is, the pitching holding frame 21 is attached to the chaining holding frame 22 so as to be displaceable in the pitching direction (Y direction).

[0054] The caming holding frame 22 is provided with two shafts 26a and 26b extending in parallel with each other in the caming direction (X direction). The shafting shafts 26a and 26b are attached to a fixed frame 25 provided so as to be opposed to the housing holding frame 22 so as to be slidable in the chaining direction (X direction). That is, the caming holding frame 22 is attached to the fixed frame 25 so as to be displaceable in the caming direction (X direction).

On the other hand, the fixed frame 25 is attached to the lens barrel 2 so that it cannot be displaced. Therefore, the pitching holding frame 21 to which the second lens unit L2 is attached is attached to the fixed frame 25 and the lens barrel 2 so as to be displaceable in both the chowing direction (X direction) and the pitching direction (Y direction). Yes.

[0056] The pitching holding frame 21 is provided with coils 24x and 24y! The coils 24x and 24y are positioned between a cornering actuator 29x and a pitching actuator 29y each having a U-shaped cross section that is attached to the fixed frame 25 so as not to be displaced. The cornering actuator 29x has a yoke 28x having a U-shaped cross section and a magnet 27x attached to the yoke 28x so as to face the coil 24x. On the other hand, the pitching actuator 29y A yoke 28y having a U-shaped cross section and a magnet 27y attached to the yoke 28y so as to face the coil 24y.

A light emitting element 30 is fixed to the pitching holding frame 21. On the other hand, a light receiving element 31 is attached to the fixed frame 25 so as to face the light emitting element 30. The light receiving element 31 receives the projection light from the light emitting element 30 to detect the two-dimensional position map of the pitching holding frame 21 (second lens group L2). In the first embodiment, the force that constitutes the sensor that detects the displacement of the second lens unit L2 by the pair of the light emitting element 30 and the light receiving element 31. For example, the displacement of the second lens unit L2 in the keying direction. It is possible to provide a separate sensor for detecting displacement and a sensor for detecting displacement in the pitching direction.

Next, a rotational blur correction method by image processing performed by the rotational image blur correction processing unit 60 and the blur amount data conversion unit 61 will be described in detail.

First, the processing in the blur amount data conversion unit 61 will be described. In the shake amount data conversion unit 61, a shake transfer function is created from the rotational shake amount data ΔΘz output from the calculation unit 3. Specifically, first, a horizontal blur amount (displacement amount) A s obtained by performing polar coordinate conversion on the rotational blur amount data ΔΘz is calculated. This process is performed according to (Equation 1) below. A s = a-A 0 z (Equation 1)

Here, the coefficient α in (Equation 1) depends on the number of samples when the rotating image blur correction processing unit 60 performs polar coordinate conversion. For example, when the total number of pixels in the horizontal direction of the image 71 after polar coordinate conversion obtained as a result of performing polar coordinate conversion on the rotated image blurred image 70 (see FIG. 4) output from the digital signal processing unit 8 is S pixels, The coefficient oc is obtained from (Equation 2).

α = ^ / (2 π) (Equation 2)

Next, the amount of blur (displacement) A s after polar coordinate conversion obtained in time series is rearranged, and the amount of blur Δs is equal! / And the quantity of data is counted. As a result, if there are h pieces of data, such as the blur amount Δ s, the power at the position of A s is assumed. The frequency distribution derived in this way is represented by the function Ms). Ms) is the frequency distribution of the blur amount after polar coordinate conversion and is the blur transfer function.

Next, the processing in the rotational image blur correction processing unit 60 will be described. The rotation image blur correction processing unit 60 outputs the digital image signal from the digital signal processing unit 8 as schematically shown in FIG. The rotated image blur image 70 is subjected to polar coordinate conversion, and an image after polar coordinate conversion (converted image data) 71 is given. If the coordinate system of the rotated image blur image 70 is the X-y coordinate system, the coordinate system of the polar image transformed image 71 is the s-r coordinate system, and the total number of vertical pixels of the rotated image blur image 70 is Y pixels, Polar coordinate transformation is performed according to (Equation 3) and (Equation 4).

s = (Y / 2) -Tan ^_1 (y / x) (Equation 3)

/ 2 2 ヽ 0.5

r = (X + y) (Formula 4)

The number of pixels S in the horizontal direction of the image 71 after polar coordinate conversion is the outer perimeter length of the inscribed circle 72 in the rotated image blurred image 70. For this reason, it is possible to suppress degradation of resolution due to sampling in a range in which no image is missing in the horizontal direction of the image 71 after polar coordinate conversion. Here, the range without image loss means that the image is not lost in the horizontal direction of the image 71 after the polar coordinate conversion, and indicates the inside of the inscribed circle 72 of the rotated image blurred image 70. Further, the number R of vertical pixels of the image 71 after the polar coordinate conversion is the farthest central force in the rotated image blurred image and the distance to the position, that is, the diagonal length of the rotated image blurred image 70 is 1Z2. The above conversion conditions are merely examples, and the present invention is not limited to them.

Next, blur correction processing is performed on the image 71 after polar coordinate conversion.

First, the principle of the blur correction process will be described. Here, it is only necessary to consider blur in the horizontal direction, so it can be considered in one dimension. Assuming that the intensity distribution of the original image without blur is f (s) and the intensity distribution of the image 71 after polar coordinate conversion, which is the intensity distribution of the image including blur, is g (s), the image 71 after polar coordinate conversion is As shown in 5), it can be expressed by the convolution integral of f (s) and h (s).

[0063] [Equation 1] (Equation 5)

(Equation 6) is obtained by Fourier-transforming both sides of (Equation 5). If this is transformed, (Equation 7) is obtained.

G (u) = F (u) -H (u) (Equation 6)

F (u) = G (u) / H (u) (Equation 7)

However, G (u): Fourier transform of g (s),

F (u): Fourier transform of f (s),

H (u): Fourier transform of h (s),

It is.

[0065] When F (u) obtained in this way is subjected to inverse Fourier transform, blurring! /, The image can be restored.

[0066] Specifically, first, Fourier transform processing is performed on the image 71 after the polar coordinate transformation to obtain an image function G (u). Next, a Fourier transform is performed on the blur transfer function Ms) obtained from the blur amount data converting unit 61 to obtain a converted blur transfer function H (u). Next, after calculating G (u) ZH (u), the result is inverse Fourier transformed.

[0067] An image subjected to horizontal blur correction is obtained by the above processing. However, since the image is still in the s-r coordinate system (polar coordinate system) at this point, the process to restore the original XY coordinate system is performed next. This process is performed according to (Equation 8) and (Equation 9).

x = X / 2 + r-Cos (s / R) (Equation 8)

y = Y / 2 + r- Sin (s / R) (Equation 9)

However,

X: Total number of pixels in the horizontal direction of the rotated image blur image 70,

Y: total number of pixels in the vertical direction of the rotated image blur image 70

R: Diagonal length 1Z2 of rotating image blur image 70,

It is.

[0068] Through the above processing, an image after rotation image blur correction can be obtained. Note that the rotational image blur correction as described above is preferably performed after correcting the image blur in the chowing direction and the pitching direction. Specifically, as in the present embodiment, the image blur in the caming direction and the pitching direction is mechanically corrected to obtain image data in which the image blur in the chowing direction and the pitching direction is suppressed, and the image data It is preferable to perform rotation image blur correction. Also, for example, when correcting the image blur in the chowing direction and the pitching direction by image processing, after performing image processing for correcting the image blur in the chowing direction and the pitching direction, the rotational image blur correction as described above is performed. It is preferable. Doing so Thus, the rotational image blur can be effectively corrected.

Next, the operation of DSC 1 will be described with reference to FIG.

[0070] When the photographer takes a picture, first, the power switch 35 is set to the ON side, and then the photography Z playback switching operation unit 37 is switched to the photography mode. Thereby, DSC1 shifts to the shooting state.

[0071] When shifting to the photographing state, camera shake vibration and swinging applied to the DSC 1 are detected by the angle sensors 17x, 17y, and 17z. The calculation unit 3 gives a command signal for canceling the generated camera shake or the like to the showing drive control unit 15x and the pitching drive control unit 15y. A current corresponding to this command signal is supplied to each of the coils 24x and 24y of the pitching holding frame 21. The pitching holding frame 21 is displaced in the chowing direction (X direction) and the pitching direction (Y direction) perpendicular to the optical axis AX from the coils 24x, 24y and magnets 27x, 27y, which are magnetized by supplying current. The For this reason, image blurring in the show direction and pitching direction of the image incident on the image sensor 4 via the imaging optical system L is corrected. Accordingly, it is possible to obtain an image in which image blurring in the pitching direction and the winging direction is corrected. The displacement detection of the pitching holding frame 21 is performed with high accuracy by the light emitting element 30 and the light receiving element 31 constituting the sensor.

[0072] The image data captured in this way is processed by an analog signal processing unit 6, an AZD conversion unit 7, and a digital signal processing unit 8, respectively, for analog signal processing such as gamma processing, conversion processing to a digital signal, noise removal, Digital signal processing such as edge enhancement is performed. The image data subjected to these processes is input to the rotation image blur correction processing unit 60.

Next, operations of the rotating image blur correction processing unit 60 and the blur amount data converting unit 61 will be described with reference to FIG.

First, the rotational shake amount data ΔΘz sampled at a predetermined cycle is input from the computing unit 3 to the shake amount data conversion unit 61 and is temporarily stored (Sl l). Next, the polar coordinate conversion of the above-described method is performed on the rotational shake amount data ΔΘz stored in the shake amount data converting unit 61 (S12). The frequency distribution is counted with respect to the shake amount Δ s after polar coordinate conversion arranged in a time series obtained in this way, and a shake transfer function is created (S13). As described above, the steps S11 to S13 are performed in the blur amount data conversion unit 61.

On the other hand, the rotational image blur correction processing unit 60 receives image data from the digital signal processing unit 8. (S21). The image data input from the digital signal processing unit 8 is corrected for image blur in the chowing direction and the pitching direction by the image blur correction unit 20, and the image data output from the imaging element 4 is subjected to analog signal processing. Gamma processing and digital signal processing by part 6 etc. are applied.

Next, polar coordinate conversion of the above-described method is performed on the input image data, and a polar coordinate converted image (converted image data) 71 is given (S22). The given post-polar transformation image 71 is subjected to a Fourier transformation process to obtain an image function G (u) (S23). Also, a blur transfer function is input from the blur amount data converter 61 (S24). The blur transfer function is also subjected to Fourier transform processing, and a converted blur transfer function H (u) is obtained (S25). Next, G (u) / H (u) is calculated (S26), and the result is subjected to inverse Fourier transform (S27). As a result, rotational image blur is also corrected, and a good image with corrected image blur is obtained.

In the present embodiment, the blur amount data converting unit 61 is provided separately, and the blur amount data converting unit 61 creates the blur transfer function (S13). Instead of providing the conversion unit 61, the rotational image blur correction processing unit 60 can directly input rotational blur data and the rotational image blur correction processing unit 60 can create a blur transfer function!

As described above, the first embodiment has described the configuration example in which the rotational image blur correction is performed before the image captured by the image sensor 4 is recorded in the image recording unit 12 (that is, simultaneously with the photographing). . However, the rotational image blur correction may be performed on the image recorded in the image recording unit 12. Further, it may be configured such that the user can select whether to perform rotation image blur correction simultaneously with photographing or to store the image in the image recording unit 12 and perform it at an arbitrary timing.

[0079] In the following second embodiment, an example of a preferred embodiment of the present invention will be described by taking as an example a DSC 81 in which rotational image blur correction is performed on an image recorded in the image recording unit 12.

[0080] Further, in Embodiment 3 below, rotation image blur correction processing can be performed by an external device such as a PC.

An example of a preferred embodiment of the present invention will be described by taking DSC 82 as an example.

[0081] (Embodiment 2) FIG. 6 is a block diagram showing a control system of DSC 81 in the second embodiment.

The DSC 81 according to the second embodiment differs from the DSC 1 according to the first embodiment in the timing at which the rotational image blur correction is performed and the configuration of the image blur correction unit 20. These two points will be explained in detail below. In the description of the second embodiment, FIG. 2 is referred to in common with the first embodiment, and components having substantially the same functions are described using the same reference numerals as in the first embodiment. Omitted.

First, differences in the configuration of the image blur correction unit 20 will be described.

In the DSC 1 according to the first embodiment, the second lens unit L2 is driven and controlled to correct image blur in the pitching direction and the bowing direction. In the second embodiment, the imaging element is used. 4 is controlled to correct image blur in the pitching direction and the winging direction. The basic mechanism and control system of the image blur correction unit 20 is not described in detail because the object to be driven is changed from the lens to the image sensor 4 and the driving amount is not changed greatly (FIG. 3). reference).

Next, storage of the blur transfer function according to the second embodiment will be described.

In the second embodiment, the rotational image blur correction can be performed at an arbitrary timing.

Specifically, the image transfer unit 12 stores a shake transfer function used in rotational image blur correction and various information such as captured image data and the date and time when the image was captured.

The blur transfer function created by the blur amount data converting unit 61 is not input to the rotating image blur correction processing unit 60 but is input to the notch memory 9. The blur transfer function stored in the nother memory 9 is based on the command of the image recording control unit 11 and the image data compressed by the image compression unit 10 and the corresponding reduced image data and image are displayed. It is recorded in the image recording unit 12 in association with various information to be recorded, such as date and time, focal length information, shutter speed information, aperture value information, and shooting mode information at the time of shooting.

When the user performs a predetermined operation, the image data and the blur transfer function stored in the image recording unit 12 are input to the rotating image blur correction processing unit 60. Then, the rotation image blur correction processing unit 60 performs the same rotation image blur processing as that described in detail in the first embodiment. The image after the rotation image blur correction process is input again to the image recording unit 12 and stored in the image recording unit 12. In general, in order to perform the rotation image blur correction process, it is necessary to repeat a relatively heavy calculation such as Fourier transform a plurality of times. For this reason, a fixed processing time is required for the rotational image blur correction processing. This means a decrease in response to the user (after shooting, the time required until the next shooting, etc.), which may not be accepted by the user. On the other hand, the second embodiment employs a configuration in which a user can instruct the operation timing of rotational image blur correction, and image blur correction can be performed at a time other than shooting. Therefore, the response to the user's operation (such as shooting) is improved. In addition, the flexibility of selecting image correction when there is sufficient time becomes more flexible.

In the first and second embodiments, 1S is configured to perform image blur correction processing using a blur transfer function. However, the present invention is not limited to this. The rotational blur amount data recorded in the image recording unit 12 and the image data before the rotational image blur correction are read into the rotational image blur correction processing unit 60. The sharing of processing between the blur amount data conversion unit 61 and the rotation image blur correction processing unit 60 is not limited to the configuration shown in the first and second embodiments.

[0091] For example, the blur amount data converting unit 61 outputs the post-polarity-converted blur amount Δs, which is data arranged in time series before being converted into the blur transfer function as the rotational blur amount data, and the blur amount Δ s and image data are correlated with each other and stored in the image recording unit 12, and the rotational image blur correction processing unit 60 converts the blur amount Δ s after polar coordinate conversion into a blur transfer function. The rotation image blur correction process described in (1) may be performed.

Further, the blur amount data conversion unit 61 is not provided, and the rotational blur amount data is stored in the image recording unit 12 in correlation with the image data, and the rotated image blur correction processing unit 60 stores the S 11 shown in FIG. ~ 13 and S21 ~ 27 may be executed.

[0093] (Embodiment 3)

The DSC 82 according to the third embodiment is different from the DSC 1 according to the first embodiment in that the rotational image blur correction is performed by an external device of the DSC 82 and the configuration of the image blur correction unit 20. These two points will be explained in detail below. In the description of the second embodiment, FIG. 2 is referred to in common with the first embodiment, and components having substantially the same functions are referred to in the second embodiment. The same reference numerals as those in FIG.

As shown in FIG. 7, in the third embodiment, the entire imaging optical system L is driven to rotate around the center of gravity of the imaging optical system L. For this reason, the image blur correction unit 20 drives the imaging position on the imaging surface in the show direction and the pitch direction.

FIG. 8 is a schematic diagram showing a configuration of the image blur correction unit 20 according to the third embodiment. 8A is a front view and FIG. 8B is a side view. In FIG. 8, the imaging optical system L is drawn so as to include the imaging element 4.

In Embodiment 3, the rotation shaft 47 is fixed to both side surfaces (X direction) of the imaging optical system L. The rotating shaft 47 is rotatably attached to a bearing (not shown) provided on the winging frame 45. In other words, the imaging optical system L is rotatable in the pitching direction and also serves as a pitching frame. A rotating shaft 48 is fixed to the side frame 45 in the Y-direction side. The rotating shaft 48 is rotatably attached to a bearing (not shown) provided on the fixed frame 46. That is, the winging frame 45 is freely rotatable in the winging direction. In addition, an actuator (not shown) is provided in the Y direction between the imaging optical system L and the winging frame 45. An actuator (not shown) is provided between the housing frame 45 and the fixed frame 46 in the X direction. Therefore, also in the third embodiment, it is possible to correct image blurring in the show direction and the pitch direction.

Next, rotational image blur correction in the third embodiment will be described.

The DSC 82 according to the third embodiment does not have the rotation image blur correction processing unit 60. The image data captured by the image sensor 4 and the blur transfer function are recorded in the image recording unit 12 in association with each other as in the second embodiment. An output unit 83 is connected to the image recording unit 12, and image data and a blur transfer function are output from the output unit 83 in a form associated with each other. The output unit 83 can be configured with a LAN cable connection terminal, a USB cable connection terminal, and the like.

Therefore, as shown in FIG. 9, it is possible to input the image data and the shake transfer function in a form associated with each other to the PC 80 having the rotating image shake correction processing unit 60. Then, an image processing program for executing rotational image blur correction processing recorded on the hard disk of PC80 or an information recording medium (optical disk or the like) readable by the PC is started, and the above-mentioned rotational image block is executed. By executing the correction process, an image in which the rotational image blur is corrected can be obtained.

Specifically, the rotational image blur correction is performed in the PC 80 as follows.

FIG. 10 is a flowchart showing an image processing program recorded in the rotational image blur correction processing unit 60 of the PC 80.

First, the shake transfer function and image data associated with each other are acquired (S30). Then, as described in detail in the first embodiment, the acquired image data is subjected to polar coordinate conversion to generate a polar coordinate-converted image (converted image data) (S22) ₀ The image after the polar coordinate conversion Is Fourier transformed to create an image function G (u) (S23). Further, the acquired blur transfer function is also subjected to Fourier transform processing, and a converted blur transfer function H (u) is created (S25). Then, F (u) is calculated from the created image function G (u) and the converted blur transfer function H (u) (S26). Finally, image data with reduced rotational image blur correction is obtained by performing inverse Fourier transform on the calculated F (u) (S27).

With such a configuration, it is possible to perform image blur correction processing with the PC 80 having a very high processing capability. For this reason, it is possible to perform the rotational image blur correction process at high speed in a relatively short time.

As described above in Embodiments 1 to 3, by providing the calculation unit 3 that calculates rotational blur amount data, for example, image data is output from the imaging device or from the imaging device to a PC or the like. After that, it is possible to correct the rotational image blur of the captured image.

[0106] (Modification)

In Embodiment 3 above, a blur transfer function is created in the DSC 82, and the force output to the blur transfer function force PC80 as the rotated image blur data is correlated with the image data as the rotated image blur data. You can make it output! In this modification, the case where image data and rotational blur amount data correlated with each other are output to the PC 80 will be described in detail.

FIG. 11 is a block diagram showing a DSC control system according to this modification.

FIG. 12 is a configuration diagram of the PC 80 as an external arithmetic processing device in this modification.

FIG. 13 is a flowchart showing an image processing program recorded on the PC 80.

[0110] As shown in FIG. 11, the DSC according to the present modification is different from the DSC 82 according to the third embodiment described above. The difference is that the amount data converter 61 is not provided. In this modification, the rotational shake amount data output from the calculation unit 3 is temporarily stored in the buffer memory 9 together with the image data output from the digital signal processing unit 8. Thereafter, the image data and the rotational blur amount data are associated with each other and recorded in the image recording unit 12. In the DSC according to this modification, the image data and the rotational blur amount data recorded in association with each other are output from the output unit 83 to the PC 80 in a state of being associated with each other. The

On the other hand, the PC 80 is provided with a shake amount data conversion unit 61 together with the rotation image blur correction processing unit 60, and here, correction processing of the rotation image blur is performed.

Specifically, as shown in FIG. 13, first, the rotational shake amount data Δ

Θz and image data are acquired (S40). Here, as described in the first embodiment, the obtained rotational shake amount data ΔΘz is subjected to polar coordinate conversion, and the horizontal direction shake amount As is calculated (S12). Then, the blur amount (displacement amount) A s after polar coordinate conversion obtained in time series is rearranged, the quantity of data with the same blur amount A s is counted, and the blur transfer function h (s) is created ( S13). The steps S12 and S13 are performed by the blur amount data conversion unit 61. Then, the blur transfer function is output from the blur amount data conversion unit 61 to the rotating image blur correction processing unit 60.

On the other hand, as shown in FIG. 13, the acquired image data is subjected to polar coordinate conversion to generate a polar coordinate-converted image (converted image data) (S22). ₀ The image function G (u) is created by performing the Rie transform (S23). Further, the blur amount data conversion unit 61 is also subjected to Fourier transform processing on the blur transfer function input to the rotating image blur correction processing unit 60, and a converted blur transfer function H (u) is created (S25). ). Then, F (u) is calculated from the created image function G (u) and the transformed blur transfer function H (u) (S26), and finally F (u) is subjected to inverse Fourier transform to obtain a rotated image blur. Image data with reduced correction is formed (S27).

[0114] As described above, by creating the blur transfer function on the PC 80, it is possible to further reduce the calculation processing load of the DSC.

[0115] (Other embodiments)

In Embodiments 1 to 3 above, the lens barrel 2 in which the imaging optical system L is housed is formed as a body. The image pickup apparatus (image pickup apparatus with an image blur correction function) is described as an example. However, the imaging device according to the present invention may be of a so-called single-lens reflex type that is used with the lens barrel 2 attached thereto, for example. In this case, the lens barrel 2 may be provided with the position detection unit 16, drive control units 15x and 15y, angle sensors 17x, 17y and 17z, and the like.

[0116] Further, the rotational image blur correction process described in the first to third embodiments is merely an example, and is not limited to the above process.

[0117] In the third embodiment, the image recording unit 12 is connected to the output unit 83, and the output unit is configured to output to the PC 80, which is an external device. May be constituted by a removable memory. In that case, the data may be input to the PC 80 by removing the image recording unit 12 in which the image data and the blur transfer function are recorded from the DSC 1 and inserting the image recording unit 12 in the PC 80.

[0118] The DSC 82 according to the third embodiment does not have the rotation image blur correction processing unit 60, but has only the output unit 83. For example, the DSC 82 has both the rotation image blur correction processing unit 60 and the output unit 83. The user can select whether the rotation image blur correction processing is performed by the rotation image blur correction processing unit 60, or whether the force is processed by outputting from the output unit 83 to the PC 80. In this case, the image data after the rotation image blur correction and the various rotation image blur data are output in association with each other, and the PC 80 converts the image data after the rotation image blur correction again into the image data before the rotation image blur correction. Let's do it.

[0119] In Embodiments 1 to 3, the force described by taking DSC as an example is not limited to this. For example, an imaging device such as a digital video camera (DVC) may be used. Industrial applicability

[0120] As described above, according to the imaging apparatus of the present invention, since an image in which the image blur in the rotation direction is corrected is obtained, a digital still camera (DSC), a digital video camera (DV C), etc. It is useful as an imaging device of

Claims

The scope of the claims

[1] Imaging optics,

An image sensor that captures an image formed by the imaging optical system and outputs image data obtained by the imaging;

A rotation image blur correction processing unit that performs a rotation image blur correction process that corrects a rotation image blur caused by the imaging optical system rotating around the optical axis at the time of imaging, on the image data;

An imaging apparatus comprising:

[2] In the imaging device according to claim 1,

A rotation angular velocity sensor that detects a rotation angular velocity around the optical axis of the imaging optical system; and a rotation angular velocity force and a calculation unit that calculates rotation image blur data corresponding to the rotation angular velocity.

The image pickup apparatus, wherein the rotation image blur correction processing unit performs rotation image blur correction processing based on the rotation image blur data.

[3] An imaging apparatus to which a lens barrel equipped with an imaging optical system is attached and used, taking an image formed by the imaging optical system, and outputting image data obtained by the imaging An image sensor;

An imaging apparatus comprising:

[4] In the imaging device according to claim 3,

The lens barrel further includes a rotation angular velocity sensor that detects a rotation angular velocity around the optical axis of the imaging optical system,

A calculation unit that calculates rotation image blur data corresponding to the rotation angular velocity from the rotation angular velocity;

[5] Imaging optics,

A rotational angular velocity sensor that detects a rotational angular velocity around the optical axis of the imaging optical system; a computing unit that computes rotational image blur data corresponding to the rotational angular velocity from the rotational angular velocity;

Based on the rotating image blur data recorded in association with the image data, the recording unit that records the image data and the rotated image blur data in association with each other, and the image data recorded in the recording unit, A rotation image blur correction processing unit that performs a rotation image blur correction process that corrects a rotation image blur caused by rotating the imaging optical system around its optical axis during the imaging;

An imaging apparatus comprising:

[6] An imaging apparatus to which a lens barrel having an imaging optical system is attached and used, wherein the lens barrel includes a rotational angular velocity sensor that detects a rotational angular velocity around the optical axis of the imaging optical system. ,

An imaging apparatus comprising:

[7] Imaging optics, An image sensor that captures an image formed by the imaging optical system and outputs image data obtained by the imaging;

An output unit that outputs the image data and the rotated image blur data in association with each other;

An imaging apparatus comprising:

[8] An imaging apparatus to which a lens barrel having an imaging optical system is attached and used, wherein the lens barrel includes a rotational angular velocity sensor that detects a rotational angular velocity around the optical axis of the imaging optical system. ,

An imaging apparatus comprising:

[9] In the imaging device according to claim 7 or 8,

The image processing apparatus further includes a recording unit that records the image data and the rotated image blur data in association with each other, and the output unit records the image data and the rotated image blur data recorded in association with the recording unit. An image pickup apparatus that outputs the image to the outside.

[10] The imaging device according to any one of claims 2 and 4 to 8,

The rotational image blur data is calculated by converting the rotational blur amount data, which is an angular change amount for each period obtained by integrating the rotational angular velocities at regular intervals, or by converting the rotational blur amount data into polar coordinates. An imaging apparatus that is a blur transfer function representing a frequency distribution of a horizontal blur amount.

[11] In the imaging device according to claim 1, 5 or 7,

The imaging optical system includes a lens group, The lens group and z or the image pickup device are driven in a first direction and a second direction perpendicular to the optical axis of the image pickup optical system, respectively, and an image formed by the image pickup optical system on the image pickup device. An imaging apparatus further comprising a drive unit that holds the position substantially constant.

[12] In the imaging device according to claim 3, 6 or 8,

The image sensor is driven in a first direction and a second direction perpendicular to the optical axis of the image pickup optical system, respectively, and the position on the image sensor of the image formed by the image pickup optical system is held substantially constant. An imaging apparatus further comprising a driving unit.

[13] The imaging device according to claim 3, 6 or 8,

The imaging optical system includes a lens group,

The lens barrel drives the lens group in a first direction and a second direction perpendicular to the optical axis of the imaging optical system, respectively, and an image formed by the imaging optical system on the imaging element. An imaging apparatus further comprising a drive unit that holds the position substantially constant.

[14] The imaging device according to any one of claims 11 to 13,

A first sensor for detecting a displacement in a first direction perpendicular to the optical axis of the imaging optical system; and a displacement in a second direction perpendicular to both the optical axis of the imaging optical system and the first direction. A second sensor to detect;

Further comprising

The image pickup apparatus, wherein the drive unit drives the lens group and Z or the image pickup element based on a displacement of the image pickup optical system detected by the first sensor and the second sensor.

[15] An image processing program for obtaining image data in which rotational image blur is reduced by performing processing for correcting rotational image blur caused by rotation of an imaging optical system during photographing on image data,

Obtaining rotational shake amount data that is an angular change amount for each period obtained by integrating the image data and the rotational angular velocity of the imaging optical system for each constant period;

Converting the image data into polar coordinates to form converted image data; calculating an image function by Fourier transforming the converted image data; and Converting the rotational blur data into polar coordinates to calculate a horizontal blur amount, and creating a blur transfer function representing a frequency distribution of the horizontal blur amount;

Calculating a converted blur transfer function by performing a Fourier transform on the created blur transfer function;

An image processing program comprising: obtaining image data with reduced rotational image blur by performing inverse Fourier transform on a function obtained by dividing the image function by the converted blur transfer function.

[16] An image processing program for obtaining image data in which rotational image blur is reduced by performing processing for correcting rotational image blur caused by rotation of an imaging optical system during photographing on image data,

Frequency of horizontal blur calculated by polar coordinate conversion of rotational blur data, which is the angular variation per period obtained by integrating the image data and the rotational angular velocity of the imaging optical system at regular intervals. Obtaining a blur transfer function representing a distribution; converting the image data into polar coordinates to form converted image data; calculating an image function by Fourier transforming the converted image data;

Calculating a transformed blur transfer function by performing a Fourier transform on the acquired blur transfer function;

[17] An information recording medium on which the image processing program according to claim 15 or 16 is recorded.

[18] An image processing apparatus for obtaining image data in which rotational image blur is reduced by performing a process of correcting rotational image blur caused by rotation of an imaging optical system during photographing on image data,

Rotational shake amount data, which is an angular change amount per period obtained by integrating the rotational angular velocity of the imaging optical system every fixed period, is acquired, and the rotational shake amount data is converted into polar coordinates to obtain the horizontal direction shake amount. Calculate and create a blur transfer function that represents the frequency distribution of the horizontal blur amount A blur amount data conversion unit,

The image data is acquired, the image data is polar-coordinated to form converted image data, an image function is calculated by Fourier transforming the converted image data, and the blur transfer function is acquired, The converted image blur transfer function is calculated by performing a Fourier transform on the blur transfer function, and the rotation image blur is reduced by performing an inverse Fourier transform on the function obtained by dividing the image function by the converted blur transfer function. Rotating image blur correction processing unit for acquiring the acquired image data,

An image processing apparatus.

[19] An image processing apparatus for obtaining image data in which rotational image blur is reduced by performing processing for correcting rotational image blur caused by rotation of an imaging optical system during photographing on image data,

Shake transmission that represents the frequency distribution of the horizontal shake amount calculated by polar-coordinates the rotational shake amount data, which is the angle change amount per cycle, obtained by integrating the rotational angular velocity of the imaging optical system at fixed intervals. The function and the image data are obtained, the image data is subjected to polar coordinate conversion to form converted image data, and the image function is calculated by performing Fourier transform on the converted image data, and the blur transfer function is converted to Fourier The converted blur transfer function is calculated by conversion, and the image data obtained by dividing the image function by the converted blur transfer function is subjected to inverse Fourier transform to obtain image data with reduced rotational image blur. An image processing apparatus including a rotation image blur correction processing unit to be acquired.

[20] An image processing method for obtaining image data in which rotational image blur is reduced by performing a process of correcting rotational image blur caused by rotation of an imaging optical system during photographing on image data,

Converting the image data into polar coordinates to form converted image data; calculating an image function by Fourier transforming the converted image data; and

The rotational blur data is converted into polar coordinates to calculate the horizontal blur amount, and the horizontal blur is calculated. Creating a blur transfer function representing the frequency distribution of the amount of power;

An image processing method comprising: obtaining image data with reduced rotational image blur by performing inverse Fourier transform on a function obtained by dividing the image function by the converted blur transfer function.

[21] An image processing method for obtaining image data in which rotational image blur is reduced by performing a process of correcting rotational image blur caused by rotation of an imaging optical system during photographing on image data,