Abstract:
Disclosed is an image-blur compensating device including an optical axis changing unit changing an optical axis, an actuator driving the optical axis changing unit, a displacement detector detecting a position of the optical axis changed by the optical axis changing unit, an angular velocity detector detecting an angular velocity applied from outside, and a target displacement calculator calculating a driving amount when the actuator has driven the optical axis changing unit based on the angular velocity detected by the angular velocity detector and the position detected by the displacement detector. The target displacement calculator then obtains, as a result of compensating an amount of influence on the position of the optical axis, a driving amount when driving the actuator based on the calculated driving amount. The image-blur compensating device further includes a driver driving the actuator based on the driving amount calculated by the target displacement calculator.

Description:
CROSS REFERENCES TO RELATED APPLICATIONS 
       [0001]    The present invention contains subject matter related to Japanese Patent Application JP 2007-202251 filed in the Japanese Patent Office on Aug. 2, 2007, the entire contents of which being incorporated herein by reference. 
       BACKGROUND OF THE INVENTION 
       [0002]    1. Field of the Invention 
         [0003]    The invention relates to an image-blur compensating device configured to compensate blurred images due to, for example, unintentional movements of a user&#39;s hand holding a so-called image-blur compensation image pick up apparatus, and also to an image pickup apparatus having the image-blur compensating device such as digital still cameras or camcorders. 
         [0004]    2. Description of the Related Art 
         [0005]    When a user unintentionally moves her/his hand in capturing images using a related art digital still camera or camcorder, the captured images are blurred in response to hand trembling or wobbling, thereby significantly deteriorating the quality of the captured images. There are roughly two technologies to compensate the image-blur of this kind, namely, optical compensation technology, and electrical compensation technology in which the blurred images captured by an imager are electrically compensated. 
         [0006]    In the optical compensation technology, an optical component is placed in a point of an optical path of an image light that passes thorough an optical pickup lens to reach an imager so that an optical axis of the image is compensated. As a result, the image-blur resulting from unintentional hand movements that have affected the image pickup device is compensated to obtain a stabilized image. 
         [0007]      FIG. 1  is a block diagram illustrating a configuration of an image compensating device according to the related art image pickup apparatus. The image pickup apparatus includes an optical system for capturing images having a main lens  41 , a shift lens  42 , and a focus lens  43  that are arranged along an optical axis Z, and light of images is incident on an imaging surface of an image pickup device  44  via the optical system having these lenses. The image pickup device  44  then converts the incident light of the images into an electrical image signal. The shift lens  42  is utilized for compensating a blurred image. The shift lens  42  can be tilted in a pitch angle direction by driving a pitch actuator  32 , and can also be tilted in a yaw angle direction by driving a yaw actuator  36 . The pitch and yaw angles are used for tilting the shift lens  42  horizontally, and formed with two mutually different directions intersecting at right angles to an optical axis Z and having an angle of 90 degrees therebetween. The pitch and yaw angles of the shift lens  42  are detected by pitch and yaw position sensors  33 ,  37 , detected output signals of which are converted into digital data by analog-to-digital converters  34 ,  38 , and the digitized data are supplied to a servo calculator  22 . 
         [0008]    The image pickup apparatus also includes an angular velocity sensor  11  detecting an angular velocity applied from outside to the image pickup apparatus in a pitch angle direction, and a yaw velocity sensor  14  detecting an angular velocity applied from outside to the image pickup apparatus in a yaw angle direction. The “unintentional movements” affected on the image pickup apparatus can be detected by the angular velocity applied to the two directions, namely, the pitch angle direction and yaw angle direction. 
         [0009]    The output signal detected by the pitch angle sensor  11  is amplified by an amplifier  12 , digitized by an analog-to-digital converter  13 , and then supplied to an image blur compensation calculator  21  in a control unit  20 . The output signal detected by a yaw angle sensor  14  is amplified by an amplifier  15 , digitized by an analog-to-digital converter  16 , and then supplied to the image blur compensation calculator  21 . The image blur compensation calculator  21  calculates compensation amounts of pitch angle and yaw angles, and transmits the obtained compensation amounts to the servo calculator  22 . 
         [0010]    The servo calculator  22  calculates target pitch and yaw angles based on the compensation amounts of pitch and yaw angles supplied thereto, and then generates pitch and yaw driving signals resulted from the obtained pitch and yaw angles. The pitch and yaw driving signals are supplied to digital-to-analog converters  31 ,  35 , respectively. The driving signals converted by the digital-to-analog converters  31 ,  35  are supplied to the pitch actuator  32  and the yaw actuator  36  to thereby set the pitch and yaw angles of the shift lens  42  in compliance with the obtained driving signals. 
         [0011]      FIG. 2  is a block diagram illustrating a more detailed configuration example of pitch and yaw angle settings for the image compensating device according to the related art. A pitch angle compensation amount Tp output by the control unit  20  calculating the image compensation amount is supplied to a subtracter  51 , so that the difference between the supplied pitch angle compensation and a current pitch angle is detected. The detected difference is supplied to a PID control operation unit  52  to generate a driving signal for the pitch actuator, and the generated driving signal is supplied to the pitch actuator  32  via the digital-to-analog converter  31 . The pitch portion of the shift lens driven by the supply of the driving signal is detected by the pitch position sensor  33 , and the detected pitch position of the sensor  33  is converted by the analog-to-digital converter  34  via an amplifier  53 . The converted pitch position is supplied to the subtracter  51  to calculate the difference between the pitch angle compensation amount Tp and the converted pitch position supplied. 
         [0012]    A yaw angle compensation amount Ty output by the control unit  20  is supplied to a subtracter  54 , so that the difference between the supplied yaw angle compensation value and a current yaw angle is detected. The detected difference is supplied to a PID control operation unit  55  to generate a driving signal for the yaw actuator, and the generated driving signal is supplied to the yaw actuator  36  via the digital-to-analog converter  35 . The yaw portion of the shift lens driven by the supply of the driving signal is detected by the yaw position sensor  37 , and the detected yaw position of the sensor  37  is converted by the analog-to-digital converter  56  via an amplifier  38 . The converted yaw position is supplied to the subtracter  54  to calculate the difference between the pitch angle compensation amount Tp and the converted yaw position supplied. 
         [0013]    The pitch angle and yaw angle of the shift lens are respectively compensated in compliance with the angular velocity applied to the image pickup apparatus in this manner to thereby compensate the image blur. Japanese Unexamined Patent Application Publication No. 2007-17874 discloses an example of an image-pickup apparatus having a shift lens of this kind. 
       SUMMARY OF THE INVENTION 
       [0014]    There frequently occurs interference between actuators driving a shift lens and sensors in such an image pickup apparatus having the sensors detecting the pitch and yaw angles. An example of the actuators for the shift lens includes an electromagnetic actuator utilizing a coil and a magnet. This type of actuator is configured to drive the actuator at high rates to move the shift lens using an electromagnetic field generated by voltage applied to the coil of the actuator, thereby adjusting a position of the shift lens to generate stabilized images. The position sensors detecting pitch and yaw angles are generally configured to include halls element that detect relative positions to the magnet for detecting positions. 
         [0015]    Since either of the electromagnetic actuator drives and position sensor detects the shift lens electromagnetically, the magnetic field generated by the electromagnetic actuator may interfere with the hall element as the position sensor, thereby reducing the accuracy in detecting positions. If the image pickup apparatus includes the electromagnetic actuators and the position sensors that can be arranged so as to leave a sufficient distance therebetween to have no interference, the accuracy in detecting positions will not decrease. However, since recent trend in image pickup apparatus such as camcorders and electronic digital still cameras seems to reduce size thereof, the notion of leaving a sufficient distance between the actuator and the sensor may be accepted in production. Specifically, when the position sensor detects positions in the presence of the electromagnetic field effects generated by the electromagnetic actuator, the accuracy in compensating image-blur will be reduced due to decrease in the detection accuracy of the position sensor. 
         [0016]    Thus, an embodiment of the invention intends to provide an image pickup apparatus having little interference between the actuators and the position sensors so as to compensate image-blur accurately. 
         [0017]    An embodiment of the invention includes an actuator configured to drive an optical axis changing unit that optionally changes an optical axis of an image pickup lens system, and a displacement detector configured to detect a position of the optical axis changed by the optical axis changing unit driven by the actuator. According to the embodiment of the invention, a driving amount of the actuator can be calculated based on an angular velocity applied from outside detected by an angular velocity detector and the position detected by the displacement detector. When calculating a driving amount of the actuator, a target displacement calculator calculates an amount of influence by the actuator on the position detected by the displacement detector, and drives the actuator based on the driving amount of the actuator obtained by the target displacement calculator. 
         [0018]    As a result, the target displacement calculator calculates, as a result of compensating the amount of influence based on the position of the actuator on the position detected by the displacement detector, and compensates the amount of influence so as to eliminate the influence from the actuator, thereby accurately compensating the image-blur of images. 
         [0019]    In the embodiments of the invention, the target displacement calculator calculates, as a result of compensating the amount of influence based on the position of the actuator on the position detected by the displacement detector, and compensates the amount of influence so as to remove the influence from the actuator, thereby accurately compensating the image-blur of images. Thus, image-blur is accurately compensated even though the actuator and the displacement detector are adjacently arranged, and an apparatus having an image-blur compensating mechanism can be reduced in size. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0020]      FIG. 1  shows a block diagram illustrating a configuration example of an image pickup apparatus according to a related art. 
           [0021]      FIG. 2  shows a block diagram illustrating a configuration example of a periphery of a shift lens driver in the image pickup apparatus according to the related art. 
           [0022]      FIG. 3  shows a block diagram illustrating a configuration example of an image pickup apparatus according to a first embodiment of the invention. 
           [0023]      FIG. 4  shows a block diagram illustrating an overall configuration example of the image pickup apparatus according to the first embodiment of the invention. 
           [0024]      FIG. 5  shows a perspective view illustrating a configuration example of the shift lens driver according to the first embodiment of the invention. 
           [0025]      FIGS. 6A ,  6 B each show an explanatory diagram schematically illustrating a structure of the shift lens according to the first embodiment of the invention. 
           [0026]      FIG. 7  shows a perspective view illustrating one example of the image pickup apparatus to which an embodiment of the invention is applied. 
           [0027]      FIG. 8  shows a perspective view illustrating another example of the image pickup apparatus to which an embodiment of the invention is applied. 
           [0028]      FIG. 9  shows a block diagram illustrating a configuration example of an image pickup apparatus according to a second embodiment of the invention. 
           [0029]      FIG. 10  shows a block diagram illustrating a configuration example of an image pickup apparatus according to a third embodiment of the invention. 
           [0030]      FIG. 11  shows a block diagram illustrating a configuration example of an image pickup apparatus according to a forth embodiment of the invention. 
           [0031]      FIG. 12  shows a block diagram illustrating a configuration example of an image pickup apparatus according to a fifth embodiment of the invention. 
           [0032]      FIG. 13  shows a block diagram illustrating a configuration example of an image pickup apparatus according to a sixth embodiment of the invention. 
       
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
       [0033]    A first embodiment of the invention will be described below with reference to  FIG. 3  to  FIG. 8 . An image pickup apparatus according to the embodiment of the invention includes an image-blur compensating device configured to compensate an image-blur resulted from unintentional hand-movements in capturing an image. Various image pickup apparatuses such as camcorders, digital still cameras, and camera phone terminals can employ such an image-blur compensating device. For example, a digital camera  80  or a digital camera  90 , an external appearance of which is shown by phantom lines in  FIG. 7  or in  FIG. 8  described later, can employ the image compensating device. 
         [0034]    First, an overall configuration of the image pickup will be described with reference to  FIG. 4 . The image pickup apparatus includes a lens barrel  81  configured to capture images including fixation lenses, a zoom lens  84 , a shift lens  104 , a focus lens  86 , and an imager  87  therein that are all aligned along the optical axis Z in this order. An image light that passes through these lenses is incident on an imaging surface of the imager  87 . In the image pickup apparatus, an iris (aperture mechanism)  85  is placed between the zoom lens  84  and the shift lens  104 . Further, lenses other than fixation lenses  82 ,  83  are moved by driving actuators, and sensors detect positions of the lenses moved by the actuators. The actuators and sensors will be described later. One example of the order of the lenses and iris arrangements is shown in  FIG. 4 , and each of the lenses may include a plurality of lenses. 
         [0035]    Various types of imagers may be employed as the imager  87 , including imagers having a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The image light incident on the imaging surface of the imager  87  is converted into electric signals per pixel, the converted electric signal is transmitted to an image processor  88  per frame to carry out processing, thereby generating an appropriate imaging signal. 
         [0036]    The imaging signal obtained by the image processor  88  is transmitted to a focus processor  89 . The focus processor  89  detects a high-frequency component of a luminance signal contained in the image signal to detect the adjusted focus state, and the detected data of the adjusted focus state is transferred to a lens control unit  120 . The lens control unit  120  indicates an arithmetic processing unit configured to control positions of the lenses by driving actuators therefor. The lens control unit  120  controls the positions the lenses based on zoom positions indicated via the operation of a zoom switch  118 , the adjusted focus state supplied from the focus processor  89 , and angular velocity supplied from an angular velocity sensor  110 . 
         [0037]    The specific configurations of the actuators and sensors for the lenses will be described herein. The zoom lens  84  configured to adjust an angular field of view captured is arranged along the optical axis Z, and moved by a zoom actuator  71 . A sensor  74  detects the moved position of the zoom lens  84 . The actuator  71  drives the zoom lens  84  based on the instructions given by the lens control unit  120 , and the position of the zoom lens detected by the sensor  74  is transferred to the lens control unit  120 . The lens control unit  120  adjusts the angular field of view using the zoom lens  84  based on a state of the zoom switch  118  operated by a user. 
         [0038]    An iris actuator  72  controls an amount of incoming rays of the image light to an iris  85 , and a sensor  75  detects the resulting amount of rays. The actuator  72  drives the iris  85  based on the instructions given by the lens control unit  120 , and the data indicating the position of the zoom lens detected by the sensor  75  is transferred to the lens control unit  120 . The lens control unit  120  determines the amount of incoming rays adjusted by the iris  85  based on the amount of incoming rays or imaging conditions. 
         [0039]    A pitch actuator  101  and a yaw actuator  102  can move the shift lens  104  in pitch angle and yaw angle directions, and sensors  107 ,  108  individually detect the moved positions based on the pitch angle and the yaw angle. The actuators  101 ,  102  each drive the shift lens  104  based on the instructions given by the lens control unit  120 , and the data indicating the shift position detected by the sensors  107 ,  108  is transferred to the lens control unit  120 . The shifted amounts of the shift lens  104  in the pitch angle and yaw angle directions are determined based on the angular velocities of the pitch angle and yaw angle applied from outside to the image pickup apparatus. 
         [0040]    A focus actuator  73  can move the focus lens  86  for adjusting a focus along the optical axis Z, and a sensor  76  detects the moved position of the focus lens  86 . The actuator  73  drives the focus lens  86  based on the instructions given by the lens control unit  120 , and the data indicating the position of the focus lens detected by the sensor  76  is transferred to the lens control unit  120 . The lens control unit  120  adjusts a focus on the image to obtain an in-focus state by driving the focus lens  86  based on data of the adjusted focus state supplied from a focus processor  89 . Alternatively, the lens control unit  120  adjusts the focus on the image by driving the actuator  73  based on an operational state of a focus adjusting ring actuator  73  utilized for manually adjusting the focus on the image. 
         [0041]    Next, a configuration example of a shift lens unit  100  supporting the shift lens  104  that compensates an image-blur will be described with reference to  FIG. 5 . As shown in  FIG. 5 , in the shift lens unit  100 , the shift lens  104  is supported with a lens supporting frame  103 . The lens supporting frame  103  oscillatably supports the shift lens  104  along a yaw angle direction supporting shaft  105 , and also oscillatably supports the shift lens  104  along a pitch angle direction supporting shaft  106 . The pitch and yaw angles are two mutually different angles by 90 degrees, to the directions of which a horizontal surface of the lens supporting frame  103 , namely, a shift lens supporting surface intersecting at right angles to the optical axis Z can be tilted. The pitch angle P and yaw angle Y are illustrated in  FIG. 5 . The shift lens  104  is shifted in the directions of the pitch angle P and yaw angle Y to refract the optical axis Z, thereby compensating the image-blurring. 
         [0042]    An angular position of the lens supporting frame  103  in the pitch angle P direction is adjusted by the pitch actuator  101 , and an angular position thereof in the yaw angle Y direction is adjusted by the yaw actuator  102 . The pitch actuator  101  and yaw actuator  102  each include a coil and a yoke sandwiching the yoke. In the actuators  101 ,  102 , angular positions of the pitch and yaw angles are determined based on magnetic fields induced from voltage applied to the coils. The angular position of the pitch angle is detected by the pitch position sensor  107  mounted closed to the pitch actuator  101 . The angular position of the yaw angle is detected by the yaw position sensor  108  mounted closed to the yaw actuator  102 . The angular position sensors  107 ,  108  are located inside the shift lens unit  100 , and both may not be observed from an external appearance thereof. 
         [0043]      FIGS. 6A ,  6 B are schematic diagrams each illustrating a structure of the shift lens unit  100  shown in  FIG. 5 . 
         [0000]      FIG. 6A  illustrates the shift lens unit  100  viewed from the direction along the optical axis, and  FIG. 6B  illustrates the shift lens  104  sectioned along the thickness direction thereof.  FIGS. 6A ,  6 B are schematic diagrams illustrating outlined arrangements of the actuators  101 ,  102 , and the yaw angle direction supporting shaft  105  and pitch angle direction supporting shaft  106  in  FIG. 5  are omitted. Relative positions of the coil  101   a  mounted the lens supporting frame  103  and a fixed portion of the yoke  101   b  are determined based on the voltage applied to the coil  101   a , so that the angular position in the pitch angle direction is adjusted as illustrated in  FIG. 6A . As shown in  FIG. 6B , the yoke  101   b  is configured to sandwich the coil  101   a . A coil  102   a  mounted the lens supporting frame  103  and a fixed portion of a yoke  102   b  each have similar configurations as the coil  101   a  and the yoke  101   b  described above, and relative positions of the coil  102   a  mounted the lens supporting frame  103  and a fixed portion of the yoke  102   b  are determined based on the voltage applied to the coil  102   a , so that the angular position in the yaw angle direction is adjusted. The pitch position sensor  107  and yaw position sensor  108  are, for example, located close to sides of the lens supporting frame  103  in the vicinities of the coils  101   a ,  102   a  respectively forming the actuators  101 ,  102 . The pitch position sensor  107  and yaw position sensor  108  are, for example, formed of hall elements, so that relative positions of the sensors  107 ,  108  to respective magnets, not shown, placed on portions of the yokes fixed to the shift lens unit  100  are determined based on detected magnetic fields generated from the magnets. Note that hall elements are arranged on the portions of the yokes fixed to the shift lens unit  100  whereas the magnets are movably arranged on portions of the yokes. The position detecting sensors other than the all elements may alternatively be used. 
         [0044]    The components of the optical system including the shift lens unit  100  having the aforementioned configuration may be utilized for an image pickup apparatus (digital camera)  80  having the external configuration illustrated in  FIG. 7 . Specifically, the digital camera  80  configured to capture static or dynamic images has a lens barrel  81  located in the center thereof, and the lens barrel  81  includes respective lenses  82 ,  83 ,  84 ,  86 ,  104 , and an iris  85 . The shift lens  104  is configured to include the pitch actuator  101 , and the yaw actuator  102  illustrated in  FIG. 5  incorporated therein. The main body of the digital camera  80  further includes the imager  87 , and an image is formed on a surface thereof via the aforementioned respective lenses. 
         [0045]      FIG. 8  is a diagram illustrating an arrangement example of the shift lens unit  100  and other optical components utilized for an image pickup apparatus having another external configuration. Specifically, the digital camera  90  configured to capture static or dynamic images has a viewfinder  91  located close to upper end of the front thereof, over which a fixed lens  82 ′ (or protection glass) is covered. A prism  92  that refracts the optical axis Z downwardly by 90 degrees is placed at the rear of the fixed lens  82 ′. A fixed lens  83 ′, a zoom lens  84 ′, an iris  85 ′, the shift lens  104 , a focus lens  86 ′, and an imager  87 ′ are located in this order along the optical axis refracted by the prism. In this case, shown in  FIG. 8 , the main body of the digital camera  90  has a comparatively thin configuration, and the optical components such as the lenses  82 ′ to  86 ′ incorporated therein each have a reduced size, accordingly. Further, the shift lens unit  100 , not shown in  FIG. 8 , has a small configuration. 
         [0046]    Next, a control configuration for compensating image-blur in an image pickup apparatus according to an embodiment of the invention will be described with reference to  FIG. 3 . A processing configuration illustrated in  FIG. 3  indicates detailed descriptions of the configurations of the lens control unit  120  and peripheral components thereof in  FIG. 4 , for example. The image pickup apparatus includes a pitch angular velocity sensor  111  detecting an angular velocity applied from outside to the image pickup apparatus in a pitch angle direction, and a yaw angular velocity sensor  114  detecting an angular velocity applied from outside to the image pickup apparatus in a yaw angle direction. The two sensors  111 ,  114  detect the pitch and yaw angle directions that are equal angle directions compensated by the pitch actuator  101  and the yaw actuator  102  in the shift lens unit  100 . However, in if the optical axis is refracted by the prism or the like as illustrated in  FIG. 8 , the two sensors  111 ,  114  detect the pitch and yaw angle directions along the optical axis obtained before the refraction of the optical axis. 
         [0047]    The output signal detected by the pitch angle sensor  111  is amplified by the amplifier  112 , digitized by the analog-to-digital converter  113 , and then supplied to the image blur compensation calculator  117 . The output signal detected by the yaw angle sensor  114  is amplified by the amplifier  115 , digitized by the analog-to-digital converter  116 , and then supplied to the image blur compensation calculator  117 . The image-blur compensation calculator  117  calculates target positions in compensating image-blur based on the angular velocities of the pitch and yaw angle directions. The image-blur compensation calculator  117  outputs instruction values of the pitch and yaw angle directions indicating the respective target positions calculated. 
         [0048]    The pitch angle instruction value calculated by the image-blur compensation calculator  117  is supplied to a PID control operation unit  123  via an adder  121  and a subtracter  122 . The PID control operation unit  123  includes a proportional control, an integral control, and a differential control that function in combination. The PID control operation unit  123  calculates the driving amount, based on which the lens is driven to reach the lens position indicated by the instruction value supplied. The driving amount calculated by the PID control operation unit  123  is supplied to a digital-to-analog converter  124  to generate a converted analog signal, and to supply the converted signal to the pitch actuator  101 , thereby driving the shift lens  104  in the pitch angle direction. The pitch angle of the shift lens  104  driven in this manner is detected by the pitch position sensor  107 . The signal indicating the pitch angle of the shift lens  104  detected by the position sensor  107  is supplied to an analog-to-digital converter  127  via an amplifier  126  to convert the signal into digital data. The digital data converted is supplied to the subtracter  122 . The subtracter  122  subtracts the value output by the analog-to-digital converter  127  from the pitch angle instruction value. 
         [0049]    Subsequently, a compensation value calculator  125  is provided with the pitch angle driving amount output by the PID control operation unit  123 . The compensation value calculator  125  multiplies the supplied driving amount by a compensation coefficient to compute a compensation value. The compensation value obtained by the compensation value calculator  125  is obtained based on the following principles. Specifically, the compensation value is utilized for compensating an amount of influence on a detecting position by the pitch position sensor  101  formed of a hall position sensor due to a magnetic field generated based on a signal applied to the coils  101   a  (see  FIG. 4 ). The driving amount is multiplied by a compensation coefficient to obtain the compensation value. Alternatively, the compensation value may be obtained by referring to a conversion table prepared for converting driving amounts into compensation value. 
         [0050]    The yaw angle instruction value calculated by the image-blur compensation calculator  117  is supplied to a PID control calculator  133  via the adder  131  and the subtracter  132 . The PID control calculator  133  calculates the driving amount, based on which the lens is driven to reach the lens position indicated by the instruction value supplied. The driving amount value calculated by the PID control calculator  133  is supplied to a digital-to-analog converter  134  to generate a converted analog signal, and to supply the converted signal to the yaw actuator  102 , thereby driving the shift lens  104  in the yaw angle direction. 
         [0000]    The yaw angle of the shift lens  104  driven in this manner is detected by the yaw position sensor  108 . The signal indicating the yaw angle of the shift lens  104  detected by the yaw position sensor  108  is supplied to an analog-to-digital converter  137  via an amplifier  136  to convert the signal into digital data. The digital data converted is supplied to the subtracter  132 . The subtracter  132  subtracts the data output by the analog-to-digital converter  137  from the yaw angle instruction value. 
         [0051]    Subsequently, a compensation value calculator  135  is provided with the yaw angle driving amount output by the PID control operation unit  133 . The compensation value calculator  135  multiplies the supplied driving amount by a compensation coefficient to obtain a compensation value. The compensation value obtained by the compensation value calculator  135  is obtained based on the following principles. Specifically, the compensation value is utilized for compensating an amount of influence on a position detected by the yaw actuator  102  formed of a hall position sensor due to a magnetic field generated based on a signal applied to the coils  102   a  (see  FIG. 6A ). The driving amount is multiplied by a compensation coefficient to obtain the compensation value. Alternatively, the compensation value may be obtained by referring to a conversion table prepared for converting driving amounts into compensation value. 
         [0052]    Since the compensating device in the image pickup apparatus is configured to carry out servo calculation calculating driving amounts of the pitch and yaw positions in  FIG. 1 , excellent image-blur compensation can be performed. Specifically, based on the pitch and yaw angles, the actuator  101 ,  102  calculate amounts of influence due to magnetic field with the sensors  107 ,  108  formed of the hall elements for detecting shifted positions of the lens, and compensate the amount of influence to generate driving signals. Thus, the interference caused by the proximity of the distance between the actuator and position sensor can be eliminated. The above configuration is effective when the image pickup apparatus shown in  FIG. 6  needs to include the shift lens  100  having a significantly small size, and also when it is difficult to arrange the sensors  107 ,  108  near the actuators  101 ,  102  therein without having the amount of influence due to the magnetic force generated by the actuators  101 ,  102 . The shift lens unit  100  for compensating an image-blur can be reduced in size, and hence the image pickup system exhibiting excellent image-blur compensation can also be reduced in size. 
         [0053]    The pitch angle instruction value calculated by the image-blur compensation calculator  117  is supplied to an adder  121 . The adder  121  adds compensation value output by a compensation value calculator  125  described later, and supplies the resulting value to a subtracter  122 . The subtracter  122  subtracts the value of the current pitch angle detected by the pitch position sensor  107 , and supplies the resulting difference of the instruction value obtained by the subtraction to a PID control operation unit  123  to calculate a driving amount of the pitch angle. The PID control operation unit  123  calculates the driving amount to drive the lens so that a value of the lens position is equal to the supplied instruction value. The driving amount calculated by the PID control operation unit  123  is supplied to a digital-to-analog converter  124  to generate a converted analog signal, and supply the signal to the pitch actuator  101  to drive the shift lens  104  in the pitch angle direction. The pitch position sensor  107  detects the pitch angle of the shift lens  104 , supplies the detected signal to an analog-to-digital converter  127  via an amplifier  126  to convert the signal into digital data, and then supplies the converted data to the subtracter  122 . 
         [0054]    The driving amount of the pitch angle output by the PID control operation unit  123  is supplied to the compensation value calculator  125  to multiply the driving amount by a compensation coefficient, thereby calculating a compensation value. The compensation value is utilized for compensating an amount of influence on a position detected by the pitch position sensor  107  forming a hall position sensor, due to a magnetic field generated based on a signal applied to the coils  101   a  (see  FIG. 6 ) forming the pitch actuator  101 . The compensation value is calculated by multiplying the driving amount by a compensation coefficient. Alternatively, the compensation value may be obtained by referring to a conversion table prepared for converting a driving amount into a compensation value. 
         [0055]    Further, the instruction value of the pitch angle calculated by the image-blur compensation calculator  117  is supplied to an adder  131  to add compensation value output by a compensation value calculator  135  described later, and supply the added signal to a subtracter  132 . The subtracter  132  subtracts the current yaw angle detected by the yaw position sensor  108 , and supplies the resulting difference of the instruction obtained by the subtraction to a PID control operation unit  133  to calculate a driving amount of the yaw angle. The PID control operation unit  133  calculates the driving amount to drive the lens so that a value of the lens position is equal to the supplied instruction value. The driving amount calculated is supplied to a digital-to-analog converter  134  to generate a converted analog signal, and supply the signal to the yaw actuator  102  to drive the shift lens  104  in the yaw angle direction. The yaw position sensor  108  detects the yaw angle of the shift lens  104 , supplies the detected signal an analog-to-digital converter  137  via an amplifier  136  to convert the signal into digital data, and then supplies the converted data to the subtracter  132 . 
         [0056]    The driving amount of the yaw angle output by the PID control operation unit  133  is supplied to the compensation value calculator  135  to multiply the driving amount by a compensation coefficient, thereby calculating a compensation value. The compensation value is utilized for compensating an amount of influence on a position detected by the yaw position sensor  108  forming a hall position sensor due to a magnetic field generated based on a signal applied to the coils  102   a  (see  FIG. 6 ) forming the yaw actuator  102 . The compensation value is calculated by multiplying the driving amount by a compensation coefficient. Alternatively, the compensation value may be obtained by referring to a conversion table prepared for converting a driving amount to a compensation value. 
         [0057]    Since the compensating device of the image pickup apparatus is configured to carry out servo calculation calculating the driving amounts of the pitch and yaw positions in  FIG. 3 , excellent image-blur compensation can be performed. Specifically, using the driving amount of pitch and yaw angles, the magnetic actuators  101 ,  102  calculate the amount of influence due to the magnetic field that affects the sensors  107 ,  108  formed of the hall elements for detecting the shift positions, and compensate the influence to generate the driving signals for pitch and yaw angles. Thus, the influence due to the proximity between the actuators and the position sensors can be eliminated. The above configuration of the image pickup apparatus shown in  FIG. 8  is effective when the image pickup apparatus needs to include the shift lens unit  100  having a significantly small size, and also when it is difficult to arrange the sensors  107 ,  108  near the actuators  101 ,  102  therein without having the influence due to the magnetic force generated by the actuators  101 ,  102 . The shift lens unit  100  for compensating an image-blur can be reduced in size, and hence the image pickup system exhibiting excellent image-blur compensation can also be reduced in size. 
         [0058]    Next, a second embodiment of the invention will be described below with reference to  FIG. 9 . The second embodiment is also configured to incorporate an image-blur (unintentional hand-movements) compensating device for compensating an image-blur in capturing images. The second embodiment includes the same components of the first embodiment corresponding to those in the second embodiment except for a control configuration of the second embodiment illustrated in  FIG. 9  in place of the control configuration of the first embodiment illustrated in  FIG. 3 . The same reference numerals are provided with the components of the second embodiment corresponding to those of the first embodiment of the invention illustrated in  FIG. 3  or the like. 
         [0059]    The image-blur compensation calculator  117  calculates compensation instruction values for target positions in compensating image-blur based on an output signal from the sensor  111  detecting the angular velocity of the pitch angle direction, and an output signal from the sensor  114  detecting the angular velocity of the yaw angle direction. 
         [0060]    The instruction value of the pitch angle calculated by the image-blur compensation calculator  117  is supplied to an adder  121 . The adder  121  adds the instruction value and a compensation value output by a compensation value calculator  125  described later, and supplies the resulting value to a subtracter  122 . The subtracter  122  subtracts the current pitch angle detected by the pitch position sensor  107  therefrom, and supplies the resulting difference of the instruction obtained by subtraction to a PID control operation unit  123  to calculate a driving amount of the pitch angle. The PID control operation unit  123  calculates the driving amount to drive the lens in the pitch angle direction, with which the value indicating the lens position is equal to the supplied instruction value. The driving amount calculated by the PID control operation unit  123  is supplied to a digital-to-analog converter  124  to generate a converted analog signal, and supply the signal to the pitch actuator  101 , thereby driving the shift lens  104  in the pitch angle direction. The position sensor  107  detects the pitch angle of the shift lens  104 , supplies the detected signal to an analog-to-digital converter  127  via an amplifier  126  to convert the signal into digital data, and then supplies the converted digital data to the subtracter  122 . 
         [0061]    The driving amount of the pitch angle output by the PID control operation unit  123  is supplied to the compensation value calculator  125 . Further, the position of current pitch angle output by the analog-to-digital converter  127  is also supplied to the compensation value calculator  125 . The compensation value calculator  125  multiplies each of the driving amount of the actuator supplied thereto and the current pitch angle value by a compensation coefficient to compute a compensation value. The compensation value is utilized for compensating an amount of influence on a position detected by the pitch position sensor  107  forming a hall position sensor due to a magnetic field generated based on a signal applied to the coils  101   a  (see  FIG. 8 ) forming the pitch actuator  101 . The compensation value is further compensated based on the current pitch angle. 
         [0062]    The instruction value of yaw angle calculated by the image-blur compensation calculator  117  is supplied to an adder  131 . The adder  132  adds the instruction value to a compensation value output by a compensation value calculator  135  described later, and supplies the resulting value to a subtracter  132 . The subtracter  132  subtracts the current yaw angle detected by the yaw position sensor  108 , and supplies the resulting difference of the instruction value obtained by subtraction to a PID control operation unit  133  to calculate a driving amount of the yaw angle. The PID control calculator  133  calculates the driving amount to drive the lens, so that the value of the lens position is equal to the supplied instruction value. The driving amount calculated by the PID control operation unit  133  is supplied to a digital-to-analog converter  134  to generate a converted analog signal, and supply the signal to the yaw actuator  102 , thereby driving the shift lens  104  in the yaw angle direction. The yaw position sensor  108  detects the yaw angle of the shift lens  104 , supplies the detected signal to an analog-to-digital converter  137  via an amplifier  136  to convert the signal into digital data, and then supplies the converted data to the subtracter  132 . 
         [0063]    The driving amount of yaw angle output by the PID control operation unit  133  is supplied to the compensation value calculator  135 . Further, the value indicating position of current yaw angle output by the analog-to-digital converter  137  is also supplied to the compensation value calculator  135 . The compensation value calculator  135  multiplies each of the driving amount of the actuator supplied thereto and the current yaw angle value by a compensation coefficient to compute a compensation value. The compensation value is utilized for compensating an amount of influence on a position detected by the yaw position sensor  108  forming a hall position sensor due to a magnetic field generated based on a signal applied to the coils  102   a  (see  FIG. 6 ) forming the yaw actuator  102 . The resulting compensation value is further compensated based on the current yaw angle. 
         [0064]    As shown in  FIG. 9 , the compensation values of the pitch and yaw angles are computed based on the driving amounts of pitch and yaw actuators and the positions thereof. Thus, in this embodiment, the pitch and yaw angles can accurately be controlled by the compensation based on the resulting compensation values, and hence the image-blur is more accurately compensated, as compared with the configuration example described in the first embodiment. 
         [0065]    Next, a third embodiment of the invention will be described below with reference to  FIG. 10 . The third embodiment is also configured to incorporate an image-blur (hand-movements) compensating device for compensating an image-blur in capturing images. The third embodiment includes a control configuration illustrated in  FIG. 10  in place of the control configuration of the first embodiment illustrated in  FIG. 3 , and other components of the third embodiment in  FIG. 10  are the same as those of the configuration illustrated in the first embodiment. The same reference numerals are provided with the components of the third embodiment in  FIG. 10  corresponding to those of the first embodiment of the invention illustrated in  FIG. 3  or the like. 
         [0066]    The image-blur compensation calculator  117  calculates compensation instruction values for target positions in compensating image-blur based on an output signal from the sensor  111  detecting the angular velocity of the pitch angle direction, and an output signal from the sensor  114  detecting the angular velocity of the yaw angle direction. 
         [0067]    The pitch angle instruction value calculated by the image-blur compensation calculator  117  is supplied to an adder  121 , which adds a compensation value output by the compensation value calculator  125  thereto. The resulting value is supplied to the adder  129 , which adds a compensation value output by the compensation value calculator  138  thereto. The adder  129  supplies the obtained value to the subtracter  122 . The subtracter  122  subtracts the value of the current pitch angle detected by the pitch position sensor  107  therefrom, and supplies the resulting difference of the instruction value obtained by subtraction to the PID control calculator  123  to calculate a driving amount of the pitch angle. The PID control calculator  123  calculates the driving amount to drive the lens in the pitch angle direction, with which value indicating the lens position is equal to the supplied instruction value. 
         [0068]    The driving amount calculated by the PID control calculator  123  is supplied to a digital-to-analog converter  124  to generate a converted analog signal, and supply the signal to the pitch actuator  101 , thereby driving the shift lens  104  in the pitch angle direction. The position sensor  107  detects the pitch angle of the shift lens  104 , supplies the detected signal to an analog-to-digital converter  127  via an amplifier  126  to convert the signal into digital data, and then supplies the converted digital data to the subtracter  122 . 
         [0069]    The driving amount of the pitch angle output by the PID control calculator  123  is supplied to each of the compensation value calculators  125 ,  128  to multiply the driving amounts by compensation coefficients, thereby obtaining compensation values. The compensation value is utilized for compensating an amount of influence on a position detected by the pitch position sensor  107  forming a hall position sensor, due to a magnetic field generated based on a signal applied to the coils  101   a  (see  FIG. 6 ) forming the pitch actuator  101 . The compensation value is calculated by multiplying the driving amount by a compensation coefficient. 
         [0070]    The instruction value of yaw angle calculated by the image-blur compensation calculator  117  is supplied to the adder  131  to add thereto a compensation value output by a compensation value calculator  135  described later. The adder  131  then supplies the resulting value to an adder  139  to add thereto a compensation value output by the compensation value calculator  128 , and supplied the added value to the subtracter  132 . The subtracter  132  subtracts the current yaw angle detected by the yaw position sensor  108 , and supplies the resulting difference of the instruction value obtained by subtraction to a PID control calculator  133  to calculate a driving amount of the yaw angle. The PID control calculator  133  calculates the driving amount to drive the lens, so that the value of the lens position is equal to the supplied instruction value. The driving amount calculated is supplied to the digital-to-analog converter  134  to generate a converted analog signal, and supply the signal to the yaw actuator  102  to drive the shift lens  104  in the yaw angle direction. The yaw position sensor  108  detects the yaw angle of the shift lens  104 , supplies the detected signal to the analog-to-digital converters  137  via an amplifier  136  to convert the signal into digital data, and then supplies the converted data to the subtracter  132 . 
         [0071]    The driving amount of the yaw angle output by the PID control calculator  133  is supplied to each of the compensation value calculators  135 ,  138  to multiply the driving amounts by compensation coefficients, thereby calculating compensation values. The compensation value computed by the compensation value calculator  135  is utilized for compensating an amount of influence on a position detected by the yaw position sensor  108  forming a hall position sensor due to a magnetic field generated based on a signal applied to the coils  102   a  (see  FIG. 6 ) forming the yaw actuator  102 . The compensation value is calculated by multiplying the driving amount by a compensation coefficient. The compensation value computed by the compensation value calculator  138  is utilized for compensating an amount of influence on a position detected by the pitch position sensor  107  forming a hall position sensor due to a magnetic field generated based on a signal applied to the coils  102   a  forming the yaw actuator  102 . The compensation value is calculated by multiplying the driving amount by a compensation coefficient. 
         [0072]    As shown in  FIG. 10 , with the compensation values of the pitch and yaw angles being computed, the pitch position is compensated based on the driving amount of pitch actuator, and the yaw position is compensated based on the driving amount of yaw actuator. Simultaneously, the yaw position is compensated based on the driving amount of pitch actuator, and the pitch position is compensated based on the driving amount of yaw actuator. Thus, in this embodiment, the pitch and yaw angles can accurately be controlled, and hence the image-blur is more accurately compensated, as compared with the configuration example described in the first embodiment in  FIG. 3 . 
         [0073]    Next, a fourth embodiment of the invention will be described below with reference to  FIG. 11 . The fourth embodiment is also configured to incorporate an image-blur (hand-movements) compensating device for compensating an image-blur in capturing images. The fourth embodiment includes a control configuration illustrated in  FIG. 10  in place of the control configuration of the first embodiment illustrated in  FIG. 3 , and other components of the fourth embodiment in  FIG. 11  are the same as those of the configuration illustrated in the first embodiment. The same reference numerals are provided with the components of the fourth embodiment corresponding to those of the first and third embodiments of the invention illustrated in  FIG. 3  and  FIG. 10 . 
         [0074]    The image-blur compensation calculator  117  calculates compensation instruction values for target positions in compensating image-blur based on an output signal from the sensor  111  detecting the angular velocity of the pitch angle direction, and an output signal from the sensor  114  detecting the angular velocity of the yaw angle direction. 
         [0075]    The instruction value of pitch angle calculated by the image-blur compensation calculator  117  is supplied to the adder  121  to add thereto a compensation value output by a compensation value calculator  125 . The resulting value is supplied to the adder  129  to add thereto a compensation value output by the compensation value calculator  138 . The obtained value is output by the adder  129  and then supplied to a subtracter  122 . The subtracter  122  subtracts the current pitch angle detected by the pitch position sensor  107  therefrom, and supplies the resulting difference of the instruction value obtained by subtraction to the PID control calculator  123  to calculate a driving amount of the pitch angle. The PID control calculator  123  calculates the driving amount to drive the lens in the pitch angle direction, with which value of the lens position is equal to the supplied instruction value. 
         [0076]    The driving amount calculated by the PID control calculator  123  is supplied to a digital-to-analog converter  124  to generate a converted analog signal, and supply the signal to the pitch actuator  101 , thereby driving the shift lens  104  in the pitch angle direction. The position sensor  107  detects the pitch angle of the shift lens  104 , supplies the detected signal to an analog-to-digital converter  127  via an amplifier  126  to convert the signal into digital data, and then supplies the converted digital data to the subtracter  122 . 
         [0077]    The driving amount of the pitch angle output by the PID control calculator  123  is supplied to each of the compensation value calculators  125 ,  128  to multiply the driving amounts by compensation coefficients, thereby obtaining compensation values. A pitch position value output by an analog-to-digital converter  127  is supplied to each of the compensation value calculators  125 ,  128 , thereby obtaining compensation value to be used in driving the lens to reach a current pitch position. The compensation value computed by the compensation value calculator  125  is utilized for compensating influence on a position detected by the pitch position sensor  107  forming a hall position sensor due to a magnetic field generated based on a signal applied to the coils  101   a  (see  FIG. 6 ) forming the pitch actuator  101 . Simultaneously, the obtained compensation value is further compensated so as to drive the lens to reach the current pitch position. The compensation value computed by the compensation value calculator  128  is utilized for compensating influence on a position detected by the pitch position sensor  108  forming a hall position sensor due to a magnetic field generated based on a signal applied to the coils  101   a  forming the pitch actuator  101 . Simultaneously, the obtained compensation value is further compensated so as to drive the lens to reach the current pitch position. 
         [0078]    The instruction value of yaw angle calculated by the image-blur compensation calculator  117  is supplied to the adder  131  to add thereto a compensation value output by a compensation value calculator  135  described later. The adder  131  then supplies the resulting value to the adder  139  to add thereto a compensation value output by the compensation value calculator  128 , and supplied the added value to the subtracter  132 . The subtracter  132  subtracts the current yaw angle detected by the yaw position sensor  108 , and supplies the resulting difference of the instruction value obtained by subtraction to a PID control calculator  133  to calculate a driving amount of the yaw angle. The PID control calculator  133  calculates the driving amount to drive the lens, so that the value indicating the lens position is equal to the supplied instruction value. The driving amount calculated is supplied to the digital-to-analog converter  134  to generate a converted analog signal, and supply the signal to the yaw actuator  102  to drive the shift lens  104  in the yaw angle direction. The yaw position sensor  108  detects the yaw angle of the shift lens  104 , supplies the detected signal to the analog-to-digital converters  137  via an amplifier  136  to convert the signal into digital data, and then supplies the converted data to the subtracter  132 . 
         [0079]    The driving amount of the yaw angle output by the PID control calculator  133  is supplied to each of the compensation value calculator  135 ,  138  to multiply the driving amounts by compensation coefficients, thereby calculating compensation values. The compensation value computed by the compensation value calculator  135  is utilized for compensating an amount of influence on a position detected by the yaw position sensor  108  forming a hall position sensor due to a magnetic field generated based on a signal applied to the coils  102   a  (see  FIG. 6 ) forming the yaw actuator  101 . Simultaneously, the obtained compensation value is further compensated so as to drive the lens to reach the current yaw position. The compensation value computed by the compensation value calculator  138  is utilized for compensating an amount of influence on a position detected by the pitch position sensor  107  forming a hall position sensor due to a magnetic field generated based on a signal applied to the coils  102   a  forming the yaw actuator  102 . Simultaneously, the obtained compensation value is further compensated so as to drive the lens to reach the current yaw position. 
         [0080]    As shown in  FIG. 10 , with the compensation values of the pitch and yaw angles being computed, the pitch position is compensated based on the driving amount of pitch actuator, and the yaw position is compensated based on the driving amount of yaw actuator. Simultaneously, the yaw position is compensated based on the driving amount of pitch actuator, and the pitch position is compensated based on the driving amount of yaw actuator. Further, in this embodiment, since the values of the pitch and yaw angles are compensated based on the values of the pitch and yaw positions, the pitch and yaw angles can accurately be controlled, and hence the image-blur is more accurately compensated, as compared with the configuration example described in the first or third embodiments in  FIG. 3  or  FIG. 10 . 
         [0081]    The following equation 1 is used to obtain the compensated instruction value Tcp supplied to the PID control operation unit  123  for the pitch angle in  FIG. 11 , and the compensated instruction value Tcy supplied to the PID control operation unit  133  for the yaw angle. 
         [0000]        Tcp=Trp+{D   p ( K   pp   ·P   p   +C   pp )}+{ D   y ( K   yp   ·P   y   +C   yp )} 
         [0000]        Tcy=Try+{D   y ( K   yy   ·P   y   +C   yy )}+{ D   p ( K   py   ·P   p   +C   py )}  [Equation 1] 
         [0000]    Tap, Tcy: instruction values after compensation (pitch, yaw)
 
Trp, Try: instruction values having no influence from actuator (pitch, yaw)
 
P p , P y : lens positions (pitch, yaw)
 
D p , D y : applied voltage (pitch, yaw)
 
K ab : coefficient indicating an amount of influence induced from magnetic field a generated by actuator on hall sensor b (pitch, yaw)
 
C ab : a constant (a, beach represent one of pitch value and represents yaw value)
 
         [0082]    Next, a fifth embodiment of the invention will be described below with reference to  FIG. 12 . The fifth embodiment is also configured to incorporate an image-blur (hand-movements) compensating device for compensating an image-blur in capturing images. The fifth embodiment includes a control configuration illustrated in  FIG. 12  in place of the control configuration of the fourth embodiment illustrated in  FIG. 11 , and other components of the fifth embodiment in  FIG. 12  are the same as those of the configuration illustrated in the first embodiment. The same reference numerals are provided with the components of the fifth embodiment in  FIG. 12  corresponding to those of the first and fourth embodiments of the invention illustrated in  FIG. 3  and  FIG. 11 . 
         [0083]    The configuration of the fifth embodiment of the invention shown in  FIG. 12  has fundamentally the same configuration of the control configuration illustrated in  FIG. 11 . In this embodiment, the instruction value of the pitch angle calculated by the image-blur compensation calculator  117  is supplied to an adder  142 . The adder  142  adds thereto compensation values output by a zoom lens and focus lens positions output unit  141 , and the resulting values output by the adder  142  are supplied to the adder  121 . Further, the instruction value of the yaw angle calculated by the image-blur compensation calculator  117  is supplied to an adder  143 . The adder  143  adds thereto compensation values output by the zoom lens and focus lens positions output unit  141 , and the resulting values output by the adder  143  are supplied to the adder  131 . 
         [0084]    The zoom lens and focus lens positions output unit  141  computes a compensation value by compensating an amount of influence by actuators for driving the zoom lens on the instruction value of the pitch angle based on a position of the zoom lens. Further, the focus lens and focus lens positions output unit  141  computes a compensation value by compensating an amount of influence by actuators driving the focus lens on the instruction value of the pitch angle based on a position of the focus lens. The computed compensation values are both added together and then output by the focus lens and focus lens positions output unit  141 . 
         [0085]    Thus, since the values of the zoom and focus lens positions can both be compensated, and the value of the shift lens position can be compensated, thereby achieving excellent image-blur compensation. Note that compensation for the above configuration may be performed based on one of the values of the zoom lens position and focus lens position. 
         [0086]    Next, a six embodiment of the invention will be described below with reference to  FIG. 13 . The sixth embodiment is also configured to incorporate an image-blur (hand-movements) compensating device for compensating an image-blur in capturing images. The sixth embodiment includes a control configuration illustrated in  FIG. 12  in place of the control configuration of the fourth embodiment illustrated in  FIG. 11 , and other components of the sixth embodiment in  FIG. 13  are the same as those of the configuration illustrated in the first embodiment. The same reference numerals are provided with the components of the sixth embodiment in  FIG. 13  corresponding to those of the first and fourth embodiments of the invention illustrated in  FIG. 3  and  FIG. 11 . 
         [0087]    The configuration of the sixth embodiment of the invention shown in  FIG. 13  has fundamentally the same configuration of the control configuration illustrated in  FIG. 11 . The sixth embodiment includes a thermistor  144  as temperature detecting element that detects temperature near the shift lens unit in the image pickup apparatus. Subsequently, temperature data detected by the thermistor  144  are supplied to respective compensation value calculators  125 ,  128 ,  135 , and  138 . The compensation values for the compensation calculator  125 ,  128 ,  135 , and  138  are computed based on the supplied temperature, performing temperature compensation processing to compensate the compensation values. Subsequently, temperature data detected by the thermistor  121  are supplied to respective compensation value calculators  121 ,  129 ,  131 , and  139 . 
         [0088]    Since the position sensors  107 ,  108  exhibits temperature properties in the detected values, the temperature properties of the sensors can be compensated based on the obtained temperature. Moreover, although the temperature of the environment is varied, in which images are captured by the image pickup apparatus, an excellent compensation can be performed. 
         [0089]    Note that the embodiments described so far are merely preferred examples and not limited to those configurations illustrated in the drawings. Further, an example having a hall element is described as a sensor for detecting positions; however, the hall element may also be employed for other sensors having influence from the actuators. 
         [0090]    Moreover, processing configurations described in the embodiments may be combined. For example, compensation based on the zoom lens position or focus lens position illustrated  FIG. 12  can be carried out in the configuration illustrated in  FIG. 3 . Temperature compensation shown in  FIG. 13  may also be carried out in the configuration illustrated in  FIG. 3 . 
         [0091]    It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and alterations may occur depending on design requirements and other factors insofar as they are within the scope of the appended claims or the equivalents thereof.