A camera module for an image capture device comprising: inertial measurement sensors arranged to indicate image capture device movement during image acquisition, a lens, an image sensor, and a camera module processor arranged to: provide a measurement of movement for an image frame in terms of rotation around each of said image capture device's X, Y and Z axes represented as quaternions; back-project a plurality of nodes from an image sensor space to a 3-dimensional space according to a projection model for said lens to provide quaternion representations Q for each node of a correction grid; rotate said quaternions Q according to said measurement of movement for an image frame; project said rotated quaternions Q=(w,i,j,k), where w is a real term and i, j and k are imaginary terms of the rotated quaternion back to the image sensor space to form a correction grid by: calculating d = 1 1 − w 2; using 1/d as an index to a lookup table to retrieve a radius value r; calculating X, Y coordinates of a rotation vector from the quaternion components as follows: X = id, Y = jd; and calculating a location of the projected point on the correction grid as follows: x = Yr, y = Xr; and provide said correction grid for said frame and said frame to a central camera processor for correction of said image frame based on said measurement of movement and said projection model. inertial measurement sensors arranged to indicate image capture device movement during image acquisition, a lens, an image sensor, and a camera module processor arranged to: provide a measurement of movement for an image frame in terms of rotation around each of said image capture device's X, Y and Z axes represented as quaternions; back-project a plurality of nodes from an image sensor space to a 3-dimensional space according to a projection model for said lens to provide quaternion representations Q for each node of a correction grid; rotate said quaternions Q according to said measurement of movement for an image frame; project said rotated quaternions Q=(w,i,j,k), where w is a real term and i, j and k are imaginary terms of the rotated quaternion back to the image sensor space to form a correction grid by: calculating d = 1 1 − w 2; using 1/d as an index to a lookup table to retrieve a radius value r; calculating X, Y coordinates of a rotation vector from the quaternion components as follows: X = id, Y = jd; and calculating a location of the projected point on the correction grid as follows: x = Yr, y = Xr; and provide said correction grid for said frame and said frame to a central camera processor for correction of said image frame based on said measurement of movement and said projection model. provide a measurement of movement for an image frame in terms of rotation around each of said image capture device's X, Y and Z axes represented as quaternions; back-project a plurality of nodes from an image sensor space to a 3-dimensional space according to a projection model for said lens to provide quaternion representations Q for each node of a correction grid; rotate said quaternions Q according to said measurement of movement for an image frame; project said rotated quaternions Q=(w,i,j,k), where w is a real term and i, j and k are imaginary terms of the rotated quaternion back to the image sensor space to form a correction grid by: calculating d = 1 1 − w 2; using 1/d as an index to a lookup table to retrieve a radius value r; calculating X, Y coordinates of a rotation vector from the quaternion components as follows: X = id, Y = jd; and calculating a location of the projected point on the correction grid as follows: x = Yr, y = Xr; and provide said correction grid for said frame and said frame to a central camera processor for correction of said image frame based on said measurement of movement and said projection model.