Image pick-up apparatus

Abstract: An image pick-up apparatus comprising a detection circuit for detecting vibration of the apparatus body, a correction system for correcting the vibration by shifting an image, and a control circuit for controlling driving of the correction system in accordance with an output of the detection circuit, wherein a closed loop frequency characteristic is constituted as a notch type, and a blocking frequency of the notch filter is made variable.

Description: The present invention relates to an image pick-up apparatus having the vibration-proof and object tracking features useful for a TV camera, an electronic still camera or an industrial image instrumentation equipment. Recently, image instruments such as TV camera, electronic still camera or industrial image instrumentation equipment as above mentioned have been remarkably developed in which the multifunction and high performance are sought, and a great problem with this type of an image instrument is the deflection of camera. As the deflection of camera yields many problems in that it may not only degrade the quality of image, but also decrease greatly the resolution, further causing a malfunction of the control system of an automatic focusing adjustment device, the correction of the camera deflection is noted as a quite important feature on photographing an image. As the correction method for the camera deflection, there are various methods such as a method of detecting physically the vibration of camera by means of an external sensor such as an angular velocity sensor, or a method of correcting the optical system by detecting the movement of image corresponding to the deflection of camera from an image signal, in which it is thought that the latter will be widely used in the future, because it can detect a photographing state from the image signal without the need of any special sensors. Exemplary of an optical pick-up apparatus for detecting the deflection of camera from an image signal and correcting optically the deflection based on that signal is that shown in Japanese Laid-Open Patent Application No. JP-A-61269572 entitled "Optical pick-up apparatus". A configuration example for this apparatus is schematically shown in Fig. 2. In the same figure, 101 is a variable apex angle prism, and 102 is a TV camera, which is image input means freely movable with respect to the camera body shown in "Optical pick-up apparatus" as previously described. 103 is a movement detection device, 106 is a controller, and 107 is an actuator (e.g., motor, voice coil, etc.). This optical pick-up apparatus has an incident angle  of object varying with the vibration of the apparatus body. Thereby, the object image within a screen may be varied because the TV camera 102 captures an object image as the field. A movement detection device outputs a difference between object positions on immediately previous screen and current screen, in which this difference signal is operated with a predetermined control information via a control unit 110 so as to allow the actuator 107 to drive the variable apex angle prism 101 in a direction of compensating for the movement of image, so that the monitor output has a stable image almost without vibration. Exemplary of the method of detecting the vibration with a sensor is that shown in "Image deflection prevention technique for video camera" (National Technical Report Vol. 34, No. 6 Dec. 1988). This shows that a lens-barrel freely rotates in a gimbal mount on a camera body, and the relative angle with respect to the camera body is controlled by detecting the angular velocity of the lens-barrel by means of two small gyros mounted on the lens-barrel. Therefore, the lens-barrel is always kept in a fixed direction, thereby providing a stable image without deflection. However, in the above-mentioned conventional apparatuses, the following problems may arise on the control system. The first problem will be described, estimating the frequency characteristic of vibration suppression ratio indicating how the output image should be stabilized for the deflection of camera has presented the frequency characteristics as shown in Fig. 3. The conventional example as previously described has the characteristic rising upward to the right as indicated by 301 in the figure, while the latter case has the characteristic lowering downward to the right as indicated by 302, as easily understood from the previous document. In general, as the vibration of camera owing to trembling of hand or walking contains many frequency components caused by the breathing or walking of the operator, it is necessary for the correction of deflection to suppress the amplitude at that frequency. But, in the conventional examples, the vibration suppression ratio at the frequency of interest is smaller than those at other frequencies, and thereby has a poorer efficiency. The second problem is that in general, as a sensor or movement detection apparatus has some detection errors or non-linearity, the conventional examples have an integral element for stabilizing the system or a circuit with a large time constant in the feedback circuit, and integrates the detection errors as well, thereby sometimes yielding the drift (a phenomenon in which the output fluctuates even if the input is not varied). The third problem is that when there occurs a step-like vibration, and subsequently no vibration, optical image deflection correction means (variable apex angle prism and lens-barrel) is left away from a neutral position, and the power continues to be consumed. The fourth problem is that as optical image deflection correction means is limited in the correction angle, if the limit value is reached during the vibration-proof operation, the image that has been stabilized before may be deflected suddenly, thereby yielding unclear image. The fifth problem is that the amplitude and frequency of camera deflection are varied depending on the cause of the deflection (for example, there are vibrations due to breathing or walking of the camera operator, or vibrations of a vehicle such as a car). And if seeking to obtain the vibration-proof effects in all of them, an inconsistent problem arises in that the loop gain must be increased, thereby making the system unstable (an over-shoot increases and a resonance frequency occurs). The sixth problem is that as the sensor or movement detection device has some detection errors or nonlinearity, an inconsistent problem also arises in that if the vibration-proof effects are sought to obtain in a low frequency band, the time constant of circuit becomes large and errors are integrated, thereby causing the drift. DE-A-3630385 discloses an anti-vibration imaging device in accordance with the preamble of the claims in which three actuators operate at three different frequency ranges, a low frequency range, an intermediate frequency range, and a high frequency range. Driving signals are provided to each actuator via a low pass filter, band pass filter, and high pass filter respectively. In accordance with one aspect, the present invention provides an image pick-up apparatus in accordance with claim 1. In accordance with a second aspect, the present invention provides an image pick-up method in accordance with claim 9. Embodiments of the present invention will now be described with reference to the accompanying drawings, in which: Fig. 1 is a block diagram showing a first example of a pick-up apparatus for illustrative purposes only; Fig. 2 is a block diagram showing a conventional configuration. Fig. 3 is a view showing the frequency characteristics in the conventional apparatus. Fig. 4 is a block diagram representing a control system of the first example with the transfer functions. Fig. 5 is a view showing the frequency characteristic of the control system as shown in Fig. 4. Fig. 6 is a block diagram showinq a second example of a pick-up apparatus for illustrative purposes only. Figs. 7A and 7B are views showing the frequency characteristics for a control system of the second example as shown in Fig. 6. Fig. 8 is a block diagram showing a third example of a pick-up apparatus for illustrative purposes only. Fig. 9 is a view showing the frequency characteristic for a control system of the third example as shown in Fig. 8. Fig. 10 is a block diagram showing a fourth example of a pick-up apparatus for illustrative purposes only. Fig. 11 is a view showing the frequency characteristics for a control system of the fourth example. Fig. 12 is a block diagram showing a pick-up apparatus according to a first embodiment of the present invention. Fig. 13 is a block diagram showing a pick-up apparatus according to a second embodiment of the present invention. Fig. 1 is a block diagram showing a configuration where a pick-up apparatus is applied to a vibration-proof camera. In the same figure, 101 is a variable apex angle prism, for example, one made by filling a silicone liquid between two sheets of parallel glass plates and sealing its peripheral portion, in which the inclination of optic axis is controlled by changing the angle between the parallel glass plates, thereby correcting the movement of image due to a deflection of camera. 102 is a TV camera, 103 is a movement detection device for detecting the movement of image, 106 is a control unit for controlling generally an apparatus and 107 is an actuator for driving the variable apex angle prism 101. Here, the control unit 106 is divided into a band-pass filter 104 and the other filter portion 105. Next, the operation of this apparatus will be described using a concept of the control theory. First, for considering the response of digital system, the system transfer function is used. Assuming the transfer function of this apparatus to be G(z) that is a z transformation of sample value, G(z) can be expressed as, G(z) = E(z)/U(z) where U(z) is a z transformation of sample value for an input signal u(t), and E(z) is a z transformation of sample value for an output signal e(t). In this apparatus, with the TV camera 102, the information for the angle of camera is input discretely to give an object position in image plane u(t), and an object position in image plane e(t) in a monitor and VTR can be obtained as the output. This apparatus is a regulator system in which e(t) is kept zero even if there is any input of u(t). The sampling frequency is considered to be within a range from 30 Hz to 60 Hz in the NTSC standards. Here, the transfer function G(z) has a frequency characteristic of notch filter. And to implement this characteristic, this apparatus has BPF 104 provided on the control unit 106. The relation between a pass frequency value for BPF 104 and the transfer function G(z) of this apparatus will be described with reference to Fig. 4. Fig. 4 is a view as further modeling the block diagram of Fig. 1, with each transfer function indicated in each block. 201 is a sampler, meaning the TV camera 102. 202 is the movement detection device 103, 203 is an operation unit of the control unit 106, 204 is a zeroth hold (A/D converter 110), and 205 corresponds to the variable apex angle prism 101 and the actuator 107. Here, a denominator R(z) of block 203 is divided into two parts such as, R(z) = R 1 (z)·R 2 (z) Here, 1/R 1 (z) is the transfer function of BPF 104, and S(z)/R 2 (z) is that of filter circuit 105. Integrating the sampler 201 and the holder 202, and the block 203 into one block such as, B'(z)/A'(z) = D(z)·Z[Gho(s)·B(s)/A(s)] the transfer function H(z) of whole vibration-proof camera is G(z) = (R 1 (z)R 2 (z)A'(z))/(R 1 (z)R 2 (z)A'(z) + S(z)B'(z)) The transfer function of BPF 104 1/R 1 (z) is represented as, 1/R 1 (z) = 1/(1-2γcos(ωcT)z -1 + γ 2 z -2 ) or can be derived from an analog filter with the bilinear transformation. Note that γ is a coefficient (γ < 1), ωc is a central angular frequency, and T is a sampling interval. After designing of BPF 104, the pole of the denominator of G(z) is allocated. Thereby the system is stabilized, and the inverse characteristic of BPF 104 (i.e., notch filter) can be obtained under the influence of numerator R 1 (z). Here, let the central frequency be f C , the cut-off frequency on high-pass side be f H and the cut-off frequency on low-pass side be f L for BPF 104. Generally, taking into consideration that the vibration frequency due to trembling of hand on the camera is concentrated on a range from 0.1 to 3 Hz, it is desirable that f C = 0.5 - 2.0 Hz f H = 3.0 Hz or more f L = 0.5 Hz or less That is, f H is set to make the zero cross frequency as high as possible, f C is set to resolve the first problem, and f L is set to resolve the second, third and fourth problems. The vibration-proof suppression ratio of a vibration-proof TV camera designed with the above method is shown in Fig. 5. As clearly seen from the same figure, the maximum suppression ratio is given on a frequency band from 0.5 to 2.0 Hz where most vibration such as trembling of hand occurs. Fig. 6 shows a block diagram of a second example of a vibration-proof TV camera. A constitutional difference from the block diagram of Fig. 1 is that there are a plurality of BPFs such as BPF 104-1, 104-2 and 104-3, rather than BPF 104, but other constitution and actions of block are the same. Here, let the central frequencies of BPF104-1, 104-2 and 104-3 be f C1 , f C2 and f C3 , respectively. An object of this example resides in obtaining a higher vibration suppression ratio than the constitution of Fig. 1, and a wider frequency band or a plurality of frequency bands. In order to show the actions and effects, Fig. 7A shows the frequency characteristic of each BPF. In the same figure, the central frequencies f C1 , f C2 and f C3 of BPF 104-1, 104-2 and 104-3 are different from each other, and the purpose of each frequency is that f C1 : prevents the vibration due to breathing of the operator 0.5 - 1.0 Hz f C2 : prevents the vibration due to walking 1.0 - 3.0 Hz f C3 : prevents the vibration generated by the operation of button 4.0 Hz Fig. 7B shows the vibration suppression ratio of vibration-proof TV camera. It can be shown that in the frequencies corresponding to f C1 , f C2 and f C3 , the vibration is effectively suppressed. Next, the third example will be described. This example is one which is applied to a camera vibration-proof apparatus as described in "Image deflection prevention technique of video camera" as cited in the description of the conventional technique. Fig. 8 shows a block diagram of the apparatus according to this example. In the figure, 402 is a lens-barrel, 404 is an angular speed sensor such as a vibration gyro, 406 is BPF, 408 is a filter circuit, and 410 is an actuator. Here, the control unit 406 is constructed of the BPF 406 and the filter circuit 408. And a different point from the conventional one is that the control unit is provided with the BPF 406. Next, the operation and actions of this example will be described. As the angular speed sensor 404 detects a differential value  °n for the lens-barrel angle  n, an integrator is used for the feedback. In this case, accumulation of detection errors for the sensor yields the characteristic such as a drift, as previously described. However, if the feedback gain is taken to be low, a problem arises that the vibration suppression ratio can not be sufficiently obtained. Thus, with the BPF 406, by feeding back only the frequency at which there are many vibrations with high gain, high vibration-proof effects can be efficiently obtained. This example differs from the first example in that it is not a discrete control system, but a continuous control system, and the lens-barrel 302 has a large inertia giving itself the vibration suppression effect. Fig. 9 shows the vibration suppression ratio of vibration-proof pick-up apparatus of the third example. The frequency characteristic obtained in this apparatus is in a form of 504, in which the characteristic is greatly improved compared with the vibration-proof characteristic 302 as described in the document as previously cited. As above described, the pick-up apparatus has an effect of attenuating the vibration frequency with large amplitude effectively, with the provision of at least one stage or more BPF in the feedback loop of a vibration-proof control system such as a vibration-proof TV camera. Also, it is possible to implement a natural and stable vibration-proof apparatus because abrupt deflection of screen at the critical correction angle can be relieved without drift and with little amount of power consumption. Next, a fourth example will be described. This example is suitable to accomplish the third to sixth objects as previously described, in which the blocking frequency of notch filter in the closed-loop is made variable. Fig. 10 is a block diagram showing a configuration where a pick-up apparatus of this example is applied to a vibration-proof camera. In this figure, 601 is a variable apex angle prism, 602 is a TV camera, 603 is a movement detection device for detecting the movement of image, 604-1 - 604-3 are filter circuits, 605 is a selector for selecting the filter circuits, 606 is a variable gain amplifier, 607 is an actuator for driving the variable apex angle prism, 608 is a mode selection switch, 609 is a CPU of a microcomputer as a control circuit for controlling this system globally, and 611 is a D/A converter. Next, the operation of this example will be described. Here, the apparatus is a feedback control system, in which the response ability of system can be changed with the frequency characteristic of the control unit 610. Thus, this apparatus is provided with at least two types of filter circuits 604, which are adaptively switched to use with the selector 605. The variable gain amplifier 606 has its gain adjusted so that the system is stabilized for a selected filter circuit. The mode for use is selected with the mode selection switch 608, and the CPU 609 generates preprogrammed values to drive the selector 605 and the variable gain amplifier 606. In this way, in accordance with the amount of movement of detected image, the variable apex angle prism 101 is driven by the actuator 107 through the controller with different frequency characteristic and gain for each mode so as to make the feedback. Thereby the monitor output e(t) has the vibration component of image suppressed so that image with corrected deflection can be output to the monitor. The filter circuit 604 and the setting value of variable gain amplifier 606 are described to show a specific implementation method of this example. To consider the response of feedback system, a model is contemplated in which the input is an image input u(t) and the output is VTR, model output e(t). Then, the transfer function of system is represented in a discrete system such as, H(z) = E(z)/U(z) However, E(z) is a z transformation of sample value for e(t), and U(z) is a z transformation of sample value for u(t). As the TV camera 602 samples discrete image information in time series, the discrete system (digital system) is dealt with (the sampling frequency is considered to be within a range from 30 Hz to 60 Hz in the NTSC standards). Here, it is desirable that the transfer function H(z) of this apparatus has a frequency characteristic of notch filter. In order to implement this, the apparatus of this example comprises the filter 604 having the characteristics of a band-pass filter. Here, representing the block diagram of Fig. 10 with the transfer functions by further modeling it, the transfer functions themselves are the same as previously shown in Fig. 4. In the same figure, 201, 202, 203, 204 and 205 are transfer functions of the sampler, the movement detection circuit, the control unit, the D/A converter, and the actuator and variable apex angle prism, respectively. Here, in this system, making the z transformations for Gho(s), A(s) and B(s) because it is a continuous system, and integrating the block 302. B'(z)/A'(z) = D(z)·Z[Gho(s)·B(s)/A(s)] is obtained. This is a control subject (plant) of system. Here, dividing a denominator R(z) of block 304 into two parts such as, R(z) = R 1 (z)·R 2 (z) the transfer function H(z) of whole vibration-proof camera is H(z) = (R 1 (z)R 2 (z)A'(z))/(R 1 (z)R 2 (z)A'(z) + S(z)B'(z)) Then, if setting such as, 1/R 1 (z) = 1/(1-2 γcos(ω cT)z -1 + γ 2 z -2 ) 1/R 1 (z) has the characteristic of band-pass filter. Note that γ is a coefficient ( γ < 1), ω c is a central angular frequency, and T is a sampling interval. Next, to make H(z) stable, the pole of the denominator of H(z) is allocated. Thereby the system is stabilized, and the inverse characteristic of BPF (i.e., notch filter) can be obtained under the influence of numerator R 1 (z). At the same time an optimal loop gain is determined so that the value of variable gain amplifier 106 is determined. Here, for BPF, let the central frequency be f C , the cut-off frequency on high-pass side be f H and the cut-off frequency on low-pass side be f L . And with that configuration, in accordance with the type of pick-up situation, the relation between the deflection frequency and the frequency characteristic of BPF is set as follows. * Holding pick-up mode (still)* f C = 0.5 - 1.0 Hz f H = 2.0 Hz or more f L = 0.3 Hz or less * Walking pick-up mode * f C = 1.0 - 2.0 Hz f H = 3.0 Hz or more f L = 0.5 Hz or less * Automobile pick-up mode * f C = 2.0 - 5.0 Hz f H = 5.0 Hz or more f L = 1.0 Hz or less That is, as the dominant frequency of camera deflection is different depending on the situation of pick-up, the frequency of deflection correction control system can be set in accordance with each pick-up situation. f H , f C are to resolve the fifth problem of the present invention, and f L is to resolve the third, fourth and sixth problems. Fig. 11 shows the frequency characteristics of the apparatus of this example for each pick-up mode. 701, 702 and 703 show the frequency characteristic curves in the holding pick-up mode, the walking pick-up mode and the automobile pick-up mode for instance from a car, respectively. As above shown, by switching the characteristic of filter 604 with a selected mode, dominant disturbance frequency can be effectively suppressed so that a stable and natural image can be obtained with vibration suppressed in the monitor output e(t). Next, a first embodiment of the present invention will be described. Fig. 12 is a block diagram showing a pick-up apparatus of a first embodiment of the present invention. This apparatus allows the automatic switching operation to be made for the mode selection switch 608 of apparatus of the fourth example, with the other constitution being the same. Specifically, a FFT (Fast Fourier Transform) circuit is provided, instead of the mode selection switch 608. The FFT circuit is to make the frequency analysis, and can be substituted by the filter circuit, or implemented by the software in a program of the CPU 609. Next, the operation of this apparatus will be described. The output of the movement detection circuit 603 is a residual component which can not be attenuated by this vibration-proof pick-up apparatus. Thus, this residual component is detected by the FFT circuit 801 to detect its frequency distribution. And depending on that frequency component, the CPU 609 determines a proper mode in accordance with the deflection frequency, and selects a filter among filters 604-1 to 604-3. That is, the FFT circuit 801 and the CPU 609 operates in such a way that the output of movement detection circuit 603 is smallest. In this way, according to this embodiment of the present invention, as the mode selection can be automatically made, a stable and natural image can be obtained without the need of special operations by the operator. In the document entitled "Image deflection prevention technique of video camera" as indicated in the conventional example, the decision of pick-up mode is also described, whereas this method in which the angular speed of camera body is operated by a signal from the gyro sensor with only the feedback gain being variable differs fundamentally in the constitution and effects from one as presented by this embodiment of the present invention in which the amount of movement is detected from an image to change both the feedback gain and frequency characteristic of filter, and the frequency component of deflection itself is analyzed to switch the frequency characteristic and compensate for the deflection essentially. Next, a pick-up apparatus according to a second embodiment of the present invention will be described with reference to Fig. 13. This embodiment shows an instance of using a filter whose characteristic can be changed continuously, rather than switching the filter selectively. An altered point is to use a variable digital filter 901, rather than the filter 604 as shown in Figs. 10 and 12. The variable digital filter can be constituted by the so-called DSP (Digital Signal Processor) or CPU. When changing the characteristic, operation parameters of digital filter are changed by the software. This apparatus can deal with various camera deflection frequencies, and further enhance the vibration-proof effect and provide a stabler image. As above described, a pick-up apparatus according to the present invention is capable of providing a stable and non-deflecting image by being able to attenuate only the frequency with large amplitude of camera deflection in accordance with the situation of pick-up, because the closed loop frequency characteristic for feedback loop in a vibration-proof control system for a vibration-proof TV camera or the like is constituted as a notch filter type, and the blocking frequency can be freely changed. Also, it is possible to implement a natural and stable vibration-proof apparatus because the characteristics such as drift of the control system, consumption power, or abrupt screen deflection at the critical correction angle can be improved.

Claims: An image pick-up apparatus comprising: detection means (103;404;603) for detecting vibration of the image pick-up apparatus; correction means (101,107;402,410;601,607) for correcting for the displacement of the image picked up by the image pick up apparatus; and control means (106;406,408;610) for controlling driving of said correction means (101,107;402, 410;601,607) in accordance with an output of said detection means (103;404-603), said control means (106;406,408;610) comprising filter means (104;406;604) for filtering an output of said detection means (103;404;603) to drive said correction means (101,107;402,410;601,607); characterised in that said filter means (106;406,408;610) comprises band pass filter means for producing a drive signal for said correction means (101,107;402,410;601,607), said band pass filter means having a selectable frequency response; and the image pick up apparatus includes selection means (605,608,609;801) for selecting the frequency response of said band pass filter means in response to the frequency of the vibration detected by said detection means (103;404;603). An image pick up apparatus according to claim 1 wherein said band pass filter means comprises a plurality of alternative band pass filters having different band pass characteristics; and said selection means (605,608,609;801) is adapted to select one of said band pass filters to produce said drive signal for said single actuator means. An image pick up apparatus according to claim 1 wherein said band pass filter means comprises variable digital filter means (901), and said selection means (605,608,609;801) is adapted to vary the frequency response of said variable digital filter means (901). An image pick up apparatus according to claim 1, 2, or 3 wherein said selection means (605,608,609,801) includes a fast fourier transform circuit for analysing the frequency of the vibration detected by said detection means (103;404;603). An image pick up apparatus according to any preceding claim wherein said correction means (101,107;402,410;601,607) comprises a shift means for optically shifting the image. An image pick up apparatus according to any preceding claim wherein said correction means (101,107;402,410;601,607) comprises a variable apex angle prism. An image pick up apparatus according to any preceding claim wherein said band pass filter means has a band pass of 0.2Hz to 10Hz. An image pick up apparatus according to any preceding claim comprising a video camera. An image pick up method comprising the steps of: detecting vibration of an image pick up apparatus; correcting for the displacement of the image picked up by the image pick up apparatus; and controlling the correction for the displacement in accordance with the detected vibration by filtering the detected vibration to drive the correction for the displacement; characterised in that the filtering is carried out using band pass filter means to produce a drive signal for correcting for the displacement, said band pass filter means having a selectable frequency response; and the method includes the step of selecting the frequency of said band pass filter means in response to the frequency of the detected vibration. An image pick up method according to claim 9 wherein said band pass filter means comprises a plurality of band pass filters having different band pass characteristics, and the drive signal is produced by selecting one of said band pass filters to filter the detected vibration. An image pick up method according to claim 9 wherein said band pass filter means comprises variable digital filter means (901), and the frequency response of said variable digital filter means (901) is selected. An image pick up method according to claims 9, 10, or 11 including the step of analysing the frequency of the vibration detected using a fast fourier transform. An image pick up method according to any one of claims 9 to 12 wherein the correction for the displacement is carried out by optically shifting the image. An image pick up method according to claim 13 wherein the optical shifting of the image is carried out using a variable apex angle prism. An image pick up method according to any one of claims 9 to 14 wherein the filtering is carried out using band pass filter means having a band pass of 0.2Hz to 10Hz.

Inventors: HARIGAYA ISAO, KAWAMATA NAOKI, KONDO TOSHIAKI, SEKINE MASAYOSHI, TAKAHASHI KOJI, TOKUMITSU JUN, HARIGAYA, ISAO, KAWAMATA, NAOKI, KONDO, TOSHIAKI, SEKINE, MASAYOSHI, TAKAHASHI, KOJI, TOKUMITSU, JUN, HARIGAYA, ISAO, CANON KABUSHIKI KAISHA, KAWAMATA, NAOKI, CANON KABUSHIKI KAISHA, KONDO, TOSHIAKI, CANON KABUSHIKI KAISHA, SEKINE, MASAYOSHI, CANON KABUSHIKI KAISHA, TAKAHASHI, KOJI, CANON KABUSHIKI KAISHA, TOKUMITSU, JUN, CANON KABUSHIKI KAISHA
Applicants: CANON KK, CANON KABUSHIKI KAISHA
Application year: 1991
Main classification: H04N5
IPC codes: G01S3, H04N5