Patent ID: 10623644

Abstract:
A vibration sensor of an image pick-up apparatus detects shake of an image pick-up apparatus and acquires shake information. An imaging unit outputs an image signal of a subject to an imaging signal processing unit. A motion vector detection unit calculates a motion vector according to an image signal after imaging. A feature point tracking unit performs feature point tracking by calculating a coordinate value of a subject on a photographing screen using the motion vector. A feature coordinate map and position and attitude estimation unit estimates a position or attitude of the image pick-up apparatus on the basis of information obtained by a band limit filter performing band limitation on shake information from a vibration sensor and an output of the feature point tracking unit. An estimation unit evaluates an estimation error, and changes a band limited by the band limit filter on the basis of the calculated evaluation value or changes a correction magnification at the time of correcting the estimation value according to a correction value.