Abstract:
An autofocus apparatus and a method achieve a higher level of speed and robustness, and are particularly suited for fluorescence microscopy of biological samples, automated microscopy and scanning microscopy. A high speed is achieved via a light pattern in the sample, detected spatially resolved by a detector generating at least two signals corresponding to a reflex pattern of the light pattern. The two signals are subtracted generating a positioning signal and the focus of the objective in the sample is adjusted depending on the positioning signal.

Description:
BACKGROUND OF THE INVENTION 
     Field of the Invention 
       [0001]    The present invention applies to an autofocus method and apparatus which are precise, reliable and fast, and are particularly suited for microscopes and/or fluorescence microscopy of biological samples. Such autofocus is particularly necessary for automated scanning microscopy which involves high magnification or optical signals from biological samples which may be very small. A biological sample may not be present contiguously, and scanning of large objects in which acquisition of a single image includes a multiplicity of single-field acquisitions is necessary. 
         [0002]    It is known that autofocus is commonly performed using two main methods. One is position or distance measurement, involving the reflection of light from a surface of the sample object, with detection schemes based e.g. on intensity, position or interferometry of the reflected light. 
         [0003]    The other is analysis of sample content software analysis of images of the sample itself. Such software processing may be based on contrast, resolution, autocorrelation, and phase contrast. 
         [0004]    Particularly in the case of microscopy, a sample is formed of sample material or specimen typically mounted on a glass slide, sandwiched between a thin cover glass and the slide. Here position measurement often involves the detection of one or more of the reflective interfaces of the sample. This is typically done by reflecting light off of these interfaces while varying the focus (z-position), and correlating the positions measured with the quality of focus of an image of the sample onto an imaging detector. The reflections from air-glass interface are very strong in comparison with those from glass-specimen interfaces—a factor of 100 or more is not uncommon. However the weak reflections from the glass-specimen interfaces must be detected in many cases, since only these reflect the accurate position of the specimen. 
         [0005]    U.S. Pat. No. 6,130,745 describes an autofocus system for micro plates using specular reflection to determine the position of a reference surface—a reflective layer such as the bottom of the micro plate. From this reference surface, the sample is at a known distance. 
         [0006]    Although this may work for specimens which are on the order of the 30 to 150 microns mentioned, this has the main disadvantage that for high magnifications (thin specimen such as cells or sub-cellular features, small depth of field), the position of the specimen itself cannot be located and focused on because of mechanical tolerances. 
         [0007]    Contrast based autofocus is known, which is based on the principle that the amount of detail in an image is greater when the image is in focus. European patent EP 1 775 617, corresponding to U.S. patent publication No. 2008/0283722, uses a method in which images are recorded while scanning continuously in the Z-direction, and recording focus in both directions. The disadvantages of content-based focusing are the time spent at each X,Y-position, and that weak or missing sample signal will be a problem. 
       SUMMARY OF THE INVENTION 
       [0008]    It is accordingly an object of the invention to provide a method and an apparatus for autofocus which overcome the above-mentioned disadvantages of the prior art methods and devices of this general type, which is a fast apparatus and method for establishing autofocus of a sample for the acquisition of images. 
         [0009]    With the foregoing and other objects in view there is provided, in accordance with the invention, a method for performing autofocus. The method includes the steps of emitting light via a light source pattern varying in a direction of an optical axis, focusing the light on a sample via an objective resulting in a generation of a light pattern in the sample, detecting a reflection of the light pattern spatially resolved via a detector, processing outputs of the detector for generating a positioning signal, and adjusting a focus of the objective in the sample depending on the positioning signal. 
         [0010]    According to the invention a light source pattern varying in the direction of an optical axis emits light. The light is focused on a sample by an objective generating a light pattern in the sample. The reflection of the light pattern is detected spatially resolved by a detector (generating at least two signals, the two signals) and the outputs of which are processed generating a positioning signal and the focus of the objective in the sample is adjusted depending on the positioning signal. 
         [0011]    The present invention performs autofocus at high speed, accuracy and robustness. Accurate position measurement of the Z-position of the sample may be carried out in fast closed loop control via the reflection and/or scatter (hereafter collectively “reflection”) of light, especially off of the glass-specimen interface, while advantageously rejecting the strong reflection from the air-glass interface(s). 
         [0012]    The light from the light source is focused on the sample by an objective. At least one focus of the objective thus should lie in the sample, whereas the sample may consist of a carrier glass, a cover glass and a specimen sandwiched between the two glasses. Other forms of a sample may be used alternatively containing a specimen, a carrier and—if necessary—a cover. 
         [0013]    The light pattern in the sample is preferably a projection or image of the light source pattern at the focal plane or focal planes of the objective or a lens of the objective in the form of a two-dimensional or three-dimensional pattern. The pattern extends in the direction of an optical axis, thus the light intensity of the pattern may vary having two or more maxima in this direction. 
         [0014]    The reflected light is monitored by one or a plurality of photoelectric converters. A spatial resolution of the light pattern may be achieved by a plurality of photoelectric converters each one of which sighting for example on one of a plurality of focuses or reflex areas of the light pattern in the sample. An output signal of the detector may contain two or more signals to be transformed into an output signal or positioning signal which represents the degree of focus in real-time. Such positioning signal preferably represents the magnitude and direction of the deviation from ideal or target focus position in the Z-direction i.e. the direction of the optical axis. The autofocus is established by a means of mechanical actuation based on the positioning signal. Reaction times in the millisecond range are possible. 
         [0015]    This autofocus system operates preferably independently of the microscope and its related illumination and image acquisition, and preferably continuously throughout the measurement or scanning of the sample. The invention can provide autofocus of any layer of a multi-layered sample. 
         [0016]    The preferred reflection of light from the sample is the reflection from an interface of the sample, like a glass-air interface, especially a glass-specimen interface since this represents the exact position of the specimen. The reflection from a glass-air interface can also be used in cases where a known offset and tolerance is adequate enough to focus on the sample. A known therefore more reliable reflective means can be placed in the specimen carrier, preferably close or in contact with the specimen, i.e. a coating of the cover glass on the side of the specimen. 
         [0017]    Speed and robustness are increased by optionally additionally employing a means of extending the depth-of-field. Depth-of-field is the position range in the Z-axis in which the image quality (e.g. sharpness) is considered to be acceptable over the entire field of view. Depth of field is extended, for example, by using a phase plate, for example, a wavefront coding plate as described in U.S. Pat. No. 5,748,371. The depth of field is preferably extended such that the number of acquisitions at various Z-positions necessary to acquire the desired thickness of the specimen is minimized or more preferably reduced to one. 
         [0018]    Speed and robustness are increased through the optional additional use of a stored three-dimensional contour map of the sample generated from measured data from a pre-calibration combined with mathematical calculation and projection. An accurate prediction of the focus plane location at every X,Y-location is available during scanning and image acquisition of the sample. This pre-calibration preferably is a fast process which takes place before image acquisition in which the reflections from the sample are located at several points of the sample in three-dimensional space. Following this highly accurate contour helps that the previously described reflection autofocus is always within its tracking range, and can perform its fast autofocus reliably. In addition, having a precise predicted focus position with narrow tolerance of where focus must lie, eliminates searching time during data acquisition in the event that tracking is lost, enabling faster decisions. 
         [0019]    In a further embodiment of this invention, robustness is increased by the possibility of illuminating the sample with light such that an image can be obtained at the current focus position. This may be preferably a brightfield or fluorescence image, and preferably an image of the specimen itself or portions thereof. The image is detected by an imaging photoelectric detector which may be the same used for the image acquisition. For high speed, a low-resolution, high speed photoelectric converter or alternatively a small sub-area of the larger photoelectric converter is preferably used for image acquisition. This content-based mode is preferably employed only in the event that the reflection signal and tracking thereof is lost or missing during acquisition, and must be found. In the event that the contour map predicting the location of the focal plane is available, the search range can be narrowed such that the decision whether or not the sample is present can be arrived at much faster. 
         [0020]    An advantage of the invention is the ability to reliably detect the glass-specimen interface of a mounted sample. A novel scheme allows reliable detection of weak reflections from glass-specimen interfaces. The signal-to-background noise ratio for the weak reflections is increased by eliminating the much stronger direct reflections of other reflective interfaces. Axial rays and those within a certain small numerical aperture—which are not useful for depth position measurement anyway and which cause high background level—may be blocked enhancing the desired weak reflection in a dark, low background. 
         [0021]    Another advantage is the high speed or short time required for autofocus. The measurement of a reflected pattern may be operated independently and continuously in parallel with image acquisition. It does not require use of the acquisition camera for autofocus, thus saving time. A positioning signal which may indicate both—magnitude and direction—saves time in a signal processing of an autofocus control loop, with reaction times in the millisecond range. The optional availability of a predicted 3-dimensional focus plane over the entire area of the sample object saves time in tracking. The optional use of depth-of-field extension reduces or preferably eliminates the need for acquiring multiple images in the Z-axis, thereby reducing acquisition time and processing time. 
         [0022]    Another advantage is robustness, which may be constituted by a combined use of alternative redundant focusing methods. The main position measurement using reflection and projection of a light pattern in the sample is backed up by the detection of sample content. Therefore the focus plane will be located under all conditions. The use of a multi-dimensional light pattern ensures that the system is less sensitive to local disturbances such as dust, dirt, scratches, and the like. The optional use of depth-of-field extension via phase plate allows more tolerance for the focal plane determination, increasing robustness of the system. It furthermore avoids the need for higher-precision mechanics and optics which are more expensive and more sensitive to shock, vibration, and the like. The availability of an accurately predicted 3-dimensional focus plane over the entire area of the sample object allows an acceptance range to be set for the focus location. Focus error can be detected and corrected in real-time during sample acquisition. 
         [0023]    Other features which are considered as characteristic for the invention are set forth in the appended claims. 
         [0024]    Although the invention is illustrated and described herein as embodied in a method and an apparatus for autofocus, it is nevertheless not intended to be limited to the details shown, since various modifications and structural changes may be made therein without departing from the spirit of the invention and within the scope and range of equivalents of the claims. 
         [0025]    The construction and method of operation of the invention, however, together with additional objects and advantages thereof will be best understood from the following description of specific embodiments when read in connection with the accompanying drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING 
         [0026]      FIG. 1  is a schematic diagram of an autofocus apparatus according to the invention; 
           [0027]      FIG. 2  is a schematic diagram of a light pattern as emitted from a light source; 
           [0028]      FIG. 3  is a schematic diagram of a light pattern as emitted from a sample; 
           [0029]      FIG. 4  is a graph showing a positioning signal; and 
           [0030]      FIG. 5  is an illustration showing a grid of points in 3-dimensional space generated from a pre-calibration. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0031]    Referring now to the drawings of the invention in detail, and in particular to  FIG. 1  thereof, there is shown a preferred embodiment of an apparatus  2  for autofocus according to the present invention. The apparatus  2  is integrated into a microscope  4  as shown in  FIG. 1  for fluorescent analysis of biological material positioned in a sample  6  using an imaging photoelectric converter (camera) or detector  8  connected to a host computer and is controlled by a computing device  10  which is part of the apparatus  2  for autofocus and the microscope  4 . 
         [0032]    The apparatus  2  contains a light source  12  with a light source emitter  14 , preferably using light emitting diode (LED) technology, an optical system  16  of forming the light from the light source emitter  14 , preferably including a light diffusing element, a means  18  of patterning or spatially filtering light generating a light source pattern and a means  20  of spatially filtering light (aperture). The apparatus  2  further contains a first beam splitter  22  and a second beam splitter  24 , both may be dichroic mirrors, an optical system  26  of forming the light from the light source  12 , an optional optical element  28 , preferably a phase plate such as a wavefront coded plate, provides increase of depth of field, and an objective  30  to focus on the sample  6 . 
         [0033]    Light reflected or emitted from the sample  6 —as indicated by broken arrows—passes through the objective  30  and the optical element  28  and may be separated by the beam splitter  24  according to its frequency. Light emitted by the sample  6  by means of fluorescence or other process to be detected by the detector  8  passes the beam splitter  24  and is formed onto the detector  8  by an optical system  32  for forming and focusing the light from the sample  6 . Light from the light source  12  may pass the beam splitter  24  too but may as well or alternatively be reflected—depending on its frequency, passes the optical system  26  and is reflected again by the beam splitter  22  and directed towards an optional optical system  34  for focusing the reflected light from the sample  6  onto a detector  36  containing one or a multiplicity of photoelectric converters  38 ,  40 , which may be photodiodes, multi-photodiode arrays, array sensors or part of a camera. A second filter  42  for spatially filtering light serves as aperture of the converters  38 ,  40 . 
         [0034]    The photoelectric converters  38 ,  40  pass their signal to a positioning signal generator  44  for producing a signal or a plurality of signals relating to the distance from the objective  30  to the sample  6 . The positioning signal generator  44  is connected to an actuating means  46  of varying position of the sample  6  relative to the objective  30  and is prepared to control the actuating means  46  in order to control the distance. With this process focus onto the photoelectric converters  38 ,  40  is established. On the other hand the positioning signal generator  44  is connected with the computing device  10  which controls the autofocus process performed by the apparatus  2 . The computing device  10  is capable of controlling the actuating means  46  as well and separately. 
         [0035]      FIG. 2  shows the light source  12  in greater detail. In the preferred implementation of the apparatus  2 , means of patterning  18  spatially filters the light passing through it using a pattern of light transmitting features  48 . The light transmitting features  48  may be openings, preferably slits vertical to an optical axis ( 50 ), and so forming the light source pattern. The slits are preferably parallel. The preferred implementation uses two slits in a single plate  52 . The light transmitting features  48  are located at different positions along the optical axis  50  ( FIG. 1 ). In the case of a single plate  52 , the plate  52  is preferably tilted at an angle with respect to the optical axis  50  such that its light transmitting features  48  are at different positions along the optical axis  50 . 
         [0036]    The aperture forming means  20  of spatially filtering light preferably contains a pattern  54  like one or a plurality of light-blocking features  56  each of which correspond to a light transmitting feature  48 . The aperture forming means  20  is positioned relative to means of patterning  18  such that the light from the light transmitting features  48 , e.g. slits, which fall within a certain numerical aperture  58  is blocked from getting to the sample  6 . Light which is outside of this numerical aperture  58  is formed by the optical system  26  into a beam  60 . This beam  60  is reflected by the beam splitter  24 , and the objective  30  focuses the light into the sample  6 , such that a light pattern  62  in three-dimensional space is induced generating a reflex pattern. 
         [0037]    The light pattern  62  is schematically illustrated in  FIG. 3  which shows a detail of the sample  6 . The sample  6  contains a sample carrier glass  64  and a cover glass  66  in between both a specimen  68  is mounted, e.g. some biological material. When light falls onto the sample  6  a bright reflex is emitted from a glass-air interface  70  of the cover glass  66 . A second reflex may be emitted from the glass-specimen interface  72 , however, this second reflex is usually much less intensive than the first reflex, due to a smaller difference in refraction index between the glass  66  and the specimen  68  than between the glass  66  and air. To increase the second reflex a reflective layer  73 —which might be as well or alternatively as scattering layer being named as the reflective layer  73  in the following as well—is placed between the carrier glass  64  and the specimen  68  or the cover glass  66  and the specimen  68 . A third reflex might result from the glass-specimen interface  74  of the sample carrier glass  64 . 
         [0038]    Light from the light source  12  falls onto the sample  6  and is partially reflected by the interface  70 . Due to the aperture forming means  20  and the blocking of the light which falls within the numerical aperture  58  and is blocked from getting to the sample  6  the direct reflections from surfaces of the sample  6 —which are not within the depth of field of the objective  30 —are blocked as well. This enhances the signal-to-noise ratio of the reflection from the glass-specimen interface  72  contributing to robustness of the measurement. 
         [0039]    The light focused into the sample  10 , is focused in a pattern in three-dimensional space forming the light pattern  62  generating the reflex pattern. In  FIG. 3  two reflex areas  76 ,  78  of the light pattern  62  are shown in cross section that are formed in a manner corresponding to the form of the light transmitting features  48 . The two reflex areas  76 ,  78  might be 10 μm×10 μm in size in cross section corresponding to the area of focus of the optics of apparatus  2 , and are at different positions in the direction of an optical axis  50  and in X-direction or Y-direction. In  FIG. 3  this variation is realized in the X-direction lying in the plane of paper of  FIG. 3 . Due to the variation in the X-direction the light reflected from the two reflex areas  76 ,  78  are separately received by the converters  38 ,  40 , converter  38  receiving the light emitted from reflex area  78  and converter  40  receiving light from reflex area  76 . 
         [0040]    This spatial resolution is advanced by the second means  42  of spatially filtering light which preferably uses a pattern of light transmitting features, preferably parallel slits, corresponding to those of the first means  18  of patterning. The second means  42  may optionally be positioned tilted at an angle with respect to the optical axis  50 . 
         [0041]    The photoelectric converters  38 ,  40 , which preferably consist of two photodiodes corresponding to the two slits of this embodiment, detect the reflected light. Based on the signals from these photoelectric converters  38 ,  40 , the positioning signal generator  44  creates a signal which represents the current focus position relative to the optimum focus. Such a positioning signal  80  ( FIG. 4 ) may be used for positioning the focus in the sample. 
         [0042]    A typical characteristic of the positioning signal  80  for the case of two slits is illustrated in  FIG. 4  showing the amplitude A of the signal  80  verses the depth of focus Z. In this case, the positioning signal generator  44  performs the function of subtracting the signals  82 ,  84  from two photoelectric converters  38 ,  40 , yielding the positioning signal  80  for various positions in Z-direction of the optical axis  50  or focal axis. A signal  80  of positive amplitude is shown with a dot for better understanding. 
         [0043]    Due to the variation in the direction of the optical axis  50  the light reflected from the two reflex areas  76 ,  78  represent different focus depth in the sample  6 . In  FIG. 3  area  76  covers the glass-specimen interface  72  and receives from there reflected light. In contrast to that area  78  is a distance away from the glass-specimen interface  72  and therefore receives less reflected light. This situation is illustrated with the signal  80  in  FIG. 4 . The signal  82  is relatively strong whereas signal  84  is rather weak. Subtraction of the signals  82 ,  84  results in positioning signal  80 . If the sample  6  would be moved away and towards the objective  30  the signal  80  would travel along the line drawn through representing a calibration curve  86 . 
         [0044]    The calibration curve  86  is known, wherein the position of target focus  88  is indicated by the arrow. As long as a measured position is within a control range  90  the signal  80  gives a definite location if the actual focus of the apparatus  2 , whereby the positive or negative amplitude of the signal  80  indicates the position below or above the target focus  88  which may be the best or optimal focus. 
         [0045]    So the signal  80  may be directly used to control the actuator  46  for varying the position of the sample  6  relative to the objective  30 . If the amplitude of the calibration curve  86  is known as well, the amplitude of the signal  80  may be used to directly move the sample  6  in one step into the target focus  88 . 
         [0046]    This very fast positioning of the sample  6  into the best focus  88  is performed by a fast control loop  92  indicated by broken arrows in  FIG. 1  including the detector  36 , the positioning signal generator  44 , the actuator  46  and the sample  6 . The fast control loop  92  is capable of immediately moving to the target focus position  88 . If the amplitude of the calibration curve  86  is not known well enough the fast control loop  92  may change the position of the focus in close loop fashion—e.g. by moving the sample  6 —in the direction indicated by the signal  80  until the sign of the signal  80  changes from positive to negative or vice versa, indicating the arrival at the target focus position  88 . 
         [0047]    For this very fast autofocus the signal  80  should be within the control range  90 . To ensure that this is the case—at least in most X,Y-scan positions over the sample  6 —a pre-scan calibration process is optionally and preferably carried out. In this process a three-dimensional contour prediction of a focus plane  94  of the best focus  88  is generated and stored. The focus plane  94  is shown in  FIG. 5 . 
         [0048]    In  FIG. 5  the lower plane represents the focus plane  94  which may coincide with the plane of the glass-specimen interface  72  but may on the other hand be any other plane being advantageous for the autofocus process. 
         [0049]    The prediction of the three-dimensional contour of a focus plane  94  is done by measuring a few points of optimal focus (Z-positions) over the sample area to be looked at by the microscope  4 , in  FIG. 5  five points are shown for illustrating purposes. At these points two reflections  96 ,  98  are preferably recorded per X,Y position: the first reflex  96  from the cover glass-air interface  70 , and the targeted weaker reflex  98  from the glass-sample interface  72 . The stronger reflex  96  will easily be found whereas the reflex  98  might be very weak. The thickness of the cover glass  66 , for instance 170 μm, may be used to facilitate the search as indicated by the broken arrows in  FIG. 5 . 
         [0050]    In the event that a weaker reflex  98  is not found, the point is not stored and an alternative point is measured. Optionally, the presence and the relationship between the measured characteristics of these two reflections  96 ,  98  may serve as a diagnostic check. Note that this process is fast because it involves neither image acquisition nor processing. The number of such calibration X,Y-locations is preferably minimized to save time. From the calibration X,Y-locations a prediction of the focus plane  94  is preferably calculated and stored for all X,Y-locations to be acquired during scanning. This pre-scan calibration process serves as an optional diagnostic, in which the sample may be rejected in the event that the process fails. 
         [0051]    The scan or image acquisition of the sample by the microscope  4  begins preferably by moving to the first known X,Y-location, and corresponding prediction of optimum Z-position or target focus position  88 . The fast control loop  92  of the autofocus is enabled, which will immediately drive the system to target focus position  88  based on the reflection from the glass-specimen interface  72 . Preferably this fast control loop  92  remains active from now on in a continuous, independent fashion, keeping the focus optimal as all X,Y-scan positions are acquired. Alternatively or additionally, the fast control loop  92  updates the calculation of the focus plane  94  enhancing the accuracy of the mathematical prediction for future X,Y-positions, for instance at intervals and/or upon command from the computing means  10 . 
         [0052]    Images are acquired by the detector  8 . Optionally, if one or a plurality images are to be acquired above or below the optimum focus position (“Z-stacking”), the fast control loop can be overridden by the computing device  10  which controls the acquisition of such Z-stacking images, referenced from the current optimum focus. After acquiring the Z-stack of images, the fast control loop  92  resumes tracking of optimum focus, and data from the next scan X,Y-position are similarly acquired. 
         [0053]    In the event that the control range  90  is exceeded, which may indicate that the reflection signal is lost, the computing device  10  can optionally switch to a content-based method of finding focus position based on an output from the detector  8 . After finding the target focus position and acquiring image(s), the scan of the sample continues using autofocus by position measurement. Although this alternative content-based method is slower, it is preferably used in case of failure of the position measurement, and provides quicker recovery than alternative methods without losing data or causing abortion of the sample scan. 
         [0054]    In a further embodiment of the apparatus, the mechanical accuracy and precision of X, Y and Z actuation is such that after movement to the predicted focus (Z) position of any X,Y-position the positioning signal  80  always lies within the control range  90 . This means that the fast control loop  92  can move directly to optimum focal position  88  without further searching. 
         [0055]    In a further embodiment of the apparatus, the means of patterning  18  may be formed of a single or a plurality of such targets, whereby each target may spatially filter the light passing through it using a different pattern of light transmitting features. 
         [0056]    In a further embodiment of the invention, an equivalent light source for generating a patterned light source or light source pattern may replace the light source  12 . Replacement light sources include, but are not limited to, an LED array or OLED matrix. 
         [0057]    In a further embodiment of the apparatus  2 , since the reflected light is in the form of an image, the positioning signal generator  44  produces signals representing the current focus position relative to the target focus  88  for a plurality of regions within the current field of view. This may be done with the aid of the X,Y-resolution of the reflex areas  76 ,  78 . In this case, more information about the tilt and contour of the focus plane is available, allowing optional decisions by the computing means  10  for further optimizing the focus. The information also can be used for more precise prediction of the following focus position. 
         [0058]    In a further embodiment of the apparatus, there is also the capability to perform a fast version of content-based autofocus. This additional capability is advantageous since it provides fast recovery in case of failure of the primary position-based autofocus during the acquisition of the sample. The light source  12  in this case can be so configured by the computing device  10  such that it illuminates the sample with such a profile and wavelength that the imaging detector  8  can record a brightfield image of the sample  6 , regardless of the presence of optical filters in the system. Furthermore, the imaging detector  8  preferably possesses a fast, low-resolution mode of operation (“fast mode”) in which it can use a subset (“region-of-interest”, or “sub-area”) of its photoelectric conversion elements (“pixels”). The detector  8  generates an output representing a small image at a higher rate than its full resolution mode. Preferably, the output of the detector  8  represents a focus score, derived from the said small image. The output is preferably a separate additional output of the imaging detector  8  which is dedicated to this autofocus function. The computing device  10  receives the output from the detector  8 , and together with its capability of controlling the actuator  46  finds the target focus position  88  based on the focus score or the characteristics of the content of the small images.