Patent Description:
When an optical system using a central projection method is used, an image point movement on an image pickup plane differs between a central part of an image and a peripheral part of the image, the image point movement being caused by a camera shake. As illustrated in <FIG>, the image point moving amount in the peripheral part of the image is larger than the image point moving amount in the central part of the image. Therefore, as illustrated in <FIG>, even when the image stabilization is performed, image points in the peripheral part of the image remain moved more largely than image points in the central part of the image. Japanese Patent Application Laid-Open No. ("<CIT> discloses an image pickup apparatus that reduces image blur at an image point position in a peripheral part of an image in consideration of a difference between an image blur amount in a central part of the image and an image blur amount at a predetermined image point position, the difference being caused by the central projection method.

In <CIT>, the image pickup apparatus calculates an image stabilization amount for reducing the image blur at the predetermined image point position in consideration of image shift sensitivity relative to a tilt of an optical system, the image shift sensitivity depending on an image height of an object image. However, in a case where image stabilization is performed by a lens-shift type image stabilizing mechanism, an image shift sensitivity relative to decentering of the image stabilizing optical system has characteristics different from the image shift sensitivity relative to the tilt of the optical system. Therefore, in a case where image stabilization is performed for image blur at the predetermined image point position by using the image stabilizing optical system, if the image stabilization amount is not calculated in consideration of the image shift sensitivity relative to the decentering of the image stabilizing optical system for the image point position, the image stabilization may be insufficient or excessive. <CIT> also discloses an image-shake correction apparatus in which, depending of the distortion of a peripheral portion and a center portion of an image pickup screen, an image-shake correction effect in the center portion is higher than in the peripheral portion. <CIT> discloses a correction arithmetic circuit to calculate blurring corrected amounts based on detected vertical/horizontal angular signals of a gyro sensor.

The present disclosure provides a control apparatus, an image pickup apparatus, a lens apparatus, a camera system, a control method, and a program each of which can easily reduce well image blur at a predetermined image point position including a center of an optical axis.

The present invention in its first aspect provides a control apparatus as specified in claims <NUM> to <NUM>.

The present invention in its second aspect provides an image pickup apparatus as specified in claims <NUM> and <NUM>.

The present invention in its third aspect provides a lens apparatus as specified in claims <NUM> and <NUM>.

The present invention in its fourth aspect provides a camera system as specified in claim <NUM>.

The present invention in its fifth aspect provides a control method as specified in claim <NUM>.

The present invention in its sixth aspect provides a computer program as specified in claim <NUM>.

Referring now to the accompanying drawings, a description will be given of embodiments according to the present invention. Corresponding elements in respective figures will be designated by the same reference numerals, and a description thereof will be omitted.

In the following description, in a three-dimensional orthogonal coordinate system of an X-axis direction, a Y-axis direction, and a Z-axis direction, a long side direction of an image pickup plane is the X-axis direction, a short side direction of the image pickup plane is the Y-axis direction, and an optical axis direction of the image pickup optical system is the Z-axis direction.

<FIG> is a schematic configuration diagram illustrating an image pickup system (camera system) <NUM> of this embodiment. The image pickup system <NUM> includes a lens apparatus <NUM> and an image pickup apparatus <NUM>. The lens apparatus <NUM> includes an image pickup optical system <NUM>, a lens microcomputer <NUM>, an OIS encoder <NUM>, an OIS driver <NUM>, an OIS actuator <NUM>, and a lens memory (memory unit) <NUM>. OIS is image stabilization performed by moving an image stabilizing optical system <NUM> included in the image pickup optical system <NUM>. The image pickup apparatus <NUM> includes an image sensor <NUM>, a camera microcomputer <NUM>, a display-operation unit <NUM>, and a recording medium <NUM>. The image pickup apparatus <NUM> further includes a gyro sensor <NUM>, an acceleration sensor <NUM>, an IIS encoder <NUM>, an IIS driver <NUM>, an IIS actuator <NUM>, and a camera memory (memory unit) <NUM>. IIS is image stabilization performed by moving the image sensor <NUM>. The lens microcomputer <NUM> and the camera microcomputer <NUM> may be configured as control apparatuses separate from the lens apparatus <NUM> and the image pickup apparatus <NUM>, respectively.

The image pickup optical system <NUM> includes a focusing optical system <NUM>, a zooming optical system <NUM>, a diaphragm <NUM>, and the image stabilizing optical system <NUM>. The image pickup optical system <NUM> guides rays from an object at an in-focus position in a set angle of view so that an object image is formed on an image pickup plane of the image sensor <NUM>. The focusing optical system <NUM> performs focusing. The zooming optical system <NUM> varies magnification so as to vary an image pickup angle of view. The diaphragm <NUM> adjusts a light amount captured from an object. The image stabilizing optical system <NUM> is decentered from an optical axis of the image pickup optical system <NUM> so that image blur is reduced, the image blur occurring when a still image or a motion image is captured.

The lens microcomputer <NUM> controls the image stabilizing optical system <NUM>. Specifically, the lens microcomputer <NUM> determines an OIS driving amount of the OIS actuator <NUM> by using an image stabilizing driving amount output from the camera microcomputer <NUM> and a position signal output from the OIS encoder <NUM> configured to detect a position of the image stabilizing optical system <NUM>. The lens microcomputer <NUM> determines the OIS driving amount such that it does not exceed a movable range of the OIS actuator <NUM>. When the OIS actuator <NUM> receives an OIS driving amount signal output from the OIS driver <NUM>, the OIS actuator <NUM> decenters the image stabilizing optical system <NUM> with respect to the optical axis of the image pickup optical system <NUM> by moving the image stabilizing optical system <NUM> in a direction including a component in a direction orthogonal to the Z-axis direction and performs image stabilization.

The lens memory <NUM> stores information on optical design such as information on a focal length and information on an object distance of the image pickup optical system <NUM>. The information on the optical design includes information on tilt-image shift sensitivity for each image height of the image pickup optical system <NUM> (information on image shift sensitivity relative to a tilt of the image pickup optical system <NUM>, the information being associated with the image point position of the image pickup optical system <NUM>). The information on the optical design further includes information on decentering-image shift sensitivity for each image height of the image stabilizing optical system <NUM> (information on image shift sensitivity relative to decentering of the image stabilizing optical system <NUM>, the information being associated with the image point position of the image pickup optical system <NUM>). In a case where a rotational shake occurs in the image pickup system <NUM> and an XY-plane orthogonal to the optical axis tilts with respect to the optical axis, using the information on the tilt-image shift sensitivity and the information on the decentering-image shift sensitivity makes it possible to reduce well image blur at a predetermined image point position of the image pickup optical system <NUM>. The camera memory <NUM> may store the information on the optical design of the image pickup optical system <NUM> including the information on the tilt-image shift sensitivity and the information on the decentering-image shift sensitivity. Alternatively, both the lens memory <NUM> and the camera memory <NUM> may store the information on the optical design of the image pickup optical system <NUM> including the information on the tilt-image shift sensitivity and the information on the decentering-image shift sensitivity.

The image sensor <NUM> is a charge-coupled device (CCD) image sensor, a complementary-metal oxide semiconductor (CMOS) image sensor, or another image sensor. The image sensor <NUM> converts an object image formed on the image pickup plane of the image sensor <NUM> by the image pickup optical system <NUM> into an electric signal and outputs it as an image signal. The image signal, which is an analog signal, is converted into a digital signal by an A/D converter (not illustrated) and output.

The camera microcomputer <NUM> controls the entire image pickup system <NUM>. For example, the camera microcomputer <NUM> reads out the image signal from the image sensor <NUM> as image data. Thereafter, the camera microcomputer <NUM> performs, on the image data, processing such as image processing based on the information on the optical design, processing of displaying the image data on a display-operation unit <NUM>, and processing of storing the image data on the recording medium <NUM>. The camera microcomputer <NUM> transmits, to the lens microcomputer <NUM>, instructions such as instructions for focusing, magnification variation, and diaphragm adjustment of the image pickup optical system <NUM>. Some of the settings relating to the above-described processing may be changed by an operation unit such as the display-operation unit <NUM> and a button (not illustrated).

The camera microcomputer <NUM> acquires the image stabilizing driving amount (image stabilizing driving amount of the image stabilizing optical system <NUM> during image stabilization) according to a flow of <FIG> is a flowchart of a control method for acquiring the image stabilizing driving amount, the control method being performed by the camera microcomputer <NUM>. In a first acquisition step S1, the camera microcomputer <NUM> functions as a first acquisition unit and acquires information on image shift sensitivity relative to decentering of the image stabilizing optical system <NUM>, the information being associated with the image point position of the image pickup optical system <NUM>. In a second acquisition step S2, the camera microcomputer <NUM> functions as a second acquisition unit and acquires an image stabilizing driving amount associated with a predetermined image point position by using information on image shift sensitivity relative to decentering of the image stabilizing optical system <NUM>, the information being associated with the predetermined image point position. The camera microcomputer <NUM> may calculate the image stabilizing driving amount or may acquire it from a table stored in a server, memory, or the like. In this embodiment, the camera microcomputer <NUM> functions as the first acquisition unit and the second acquisition unit, but the lens microcomputer <NUM> may function as the first acquisition unit and the second acquisition unit.

The gyro sensor <NUM> outputs, as a motion detection signal, information on angular velocity of the image pickup system <NUM>. The acceleration sensor <NUM> outputs, as a motion detection signal, information on a moving amount in a translational direction of the image pickup system <NUM>. In response to a reception of the motion detection signal transmitted from each sensor, the camera microcomputer <NUM> transmits the image stabilizing driving amount to the lens microcomputer <NUM> or the IIS control unit <NUM> in the camera microcomputer <NUM>, and image stabilization is performed on the object image in which image blur is caused by a shake of the image pickup system <NUM>. In the image stabilization, either OIS or IIS may be performed, or a share of the image stabilization may be determined (for example, <NUM>% of the image stabilization is performed by OIS, and <NUM>% of the image stabilization is performed by IIS) and both OIS and IIS may be performed.

The IIS control unit <NUM> controls the image sensor <NUM>. Specifically, the IIS control unit <NUM> determines an IIS driving amount of the IIS actuator <NUM> by using the image stabilizing driving amount transmitted from the camera microcomputer <NUM> and the position signal output from the IIS encoder <NUM> configured to detect the position of the image sensor <NUM>. The IIS driving amount is determined such that it does not exceed the movable range of the IIS actuator <NUM>. In response to a reception of the IIS driving amount signal from the IIS driver <NUM>, the IIS actuator <NUM> decenters the image sensor with respect to the optical axis of the image pickup optical system <NUM> by moving the image sensor <NUM> in the direction including the component in the direction orthogonal to the Z-axis direction and performs image stabilization. That is, the IIS actuator <NUM> functions as one of image stabilizing units for reducing image blur.

The lens apparatus <NUM> may include a gyro sensor <NUM> or an acceleration sensor <NUM>. In this case, when OIS is to be performed, the lens microcomputer <NUM> can determine the OIS driving amount by using an image stabilizing driving amount acquired by using the motion detection signals output from these sensors and the position signal output from the OIS encoder <NUM>.

Hereinafter, a description will be given of processing in OIS in a case where image blur at a predetermined image point position is to be reduced. When the gyro sensor <NUM> or the acceleration sensor <NUM> detects a shake of the image pickup system <NUM>, each sensor outputs the motion detection signal (information on the shake) to the camera microcomputer <NUM>. The camera microcomputer <NUM> acquires the image stabilizing driving amount by using the information on the tilt-image shift sensitivity and the information on the decentering-image shift sensitivity stored in the lens memory <NUM>, information on the image stabilizing position on the image pickup plane, and the motion detection signal. The camera microcomputer <NUM> transmits the acquired image stabilizing driving amount to the lens microcomputer <NUM> or the IIS control unit <NUM>.

In this embodiment, the tilt-image shift sensitivity is an image point moving amount in directions orthogonal to and parallel to a predetermined rotational axis about which the image pickup optical system <NUM> tilts, the predetermined rotational axis being orthogonal to the optical axis of the image pickup optical system <NUM> and intersecting with the optical axis on the image pickup plane. <FIG> illustrates a relationship between the image height and the tilt-image shift sensitivity in a case where the image pickup optical system <NUM> of this embodiment tilts, the image height being in a moving direction of an image point and in a central part of an image. As indicated by <FIG>, the higher the image height in the moving direction of the image point, the larger the image point moving amount when the image pickup optical system <NUM> tilts, the image pickup optical system being designed to optically reduce an aberration by a central projection method. <FIG> illustrates a relationship between an image height and the tilt-image shift sensitivity in the case where the image pickup optical system <NUM> of this embodiment tilts, the image height being in a direction orthogonal to the moving direction of the image point and in the central part of the image. As indicated by <FIG>, the higher the image height in the direction orthogonal to the moving direction of the image point, the smaller the image point moving amount when the image pickup optical system <NUM> tilts, the image pickup optical system <NUM> being designed to be capable of barrel aberration reduction by the central projection method. In this embodiment, an image point moving amount for each image height in a case where a rotational shake occurs can be acquired by using the tilt-image shift sensitivity, which is acquired by using a design value of the image pickup optical system <NUM>, and it is not necessary to perform arithmetic processing using an image height expression based on the projection method or using a distortion amount. The tilt-image shift sensitivity of this embodiment is a value acquired by dividing, by <NUM>°, the image point moving amount when the image pickup optical system <NUM> tilts by <NUM>° about the predetermined rotation axis. The tilt angle of the pickup optical system <NUM> is not limited to <NUM>° and may be properly set.

<FIG> is a diagram illustrating a comparison of an image point movement at a predetermined image point position A and an image point movement in the central part of the image in a case where a rotational shake about the Y-axis occurs and schematically illustrating a state in which a stationary object image <NUM> changes to an object image <NUM> which is distorted into a trapezoid due to image blur. With a wide-angle lens that optically reduces distortion using the central projection method, trapezoidal distortion such as distortion occurring in the object image <NUM> becomes large when a rotational shake occurs. Image blur occurs when each image point on the image pickup plane moves along a movement vector of the image point indicated by an arrow.

Hereinafter, a description will be given of an image point moving amount tx0 in the + X-axis direction at a center position O of the image pickup plane, the center position O being in the central part of the image, and an image point moving amount tx at a predetermined image point position A in a case where a rotational shake amount ωy about the Y-axis occurs.

The image point moving amount tx0 is expressed by the following equation (<NUM>) where LS represents tilt-image shift sensitivity at an image height of <NUM>.

The image pickup plane on an X-Y plane is a polar coordinate system (R-θ coordinate system) where an origin is the center position O, and coordinates of the predetermined image point position A are (r, θ). That is, in this embodiment, the predetermined image point position A is a position on the image pickup plane represented by a plurality of parameters. The image height indicated by the horizontal axis of <FIG> corresponds to an image height hr in an R direction in the polar coordinate system of <FIG>, and the image height indicated by the horizontal axis of <FIG> corresponds to an image height he in a direction orthogonal to the R direction, i.e., a θ direction, in the polar coordinate system of <FIG>. A tilt-image shift sensitivity coefficient kLS_r (hr) at the image height hr relative to tilt-image shift sensitivity LS is expressed by the following equation (<NUM>) where LSr(hr) represents tilt-image shift sensitivity at the image height hr.

A tilt-image shift sensitivity coefficient kLS_θ (he) at the image height he relative to the tilt-image shift sensitivity LS is expressed by the following equation (<NUM>) where LSe (he) represents tilt-image shift sensitivity at the image height he.

An image point moving amount tx0 is expressed by the following equations (<NUM>) to (<NUM>) where trx0 represents a parallel component parallel to a straight line OA and tθX0 represents an orthogonal component orthogonal to the straight line OA. <MAT> <MAT> <MAT>.

With respect to the sign of the parallel component trx0, a direction away from the center position O, i.e., the R direction, is positive, and with respect to the sign of the orthogonal component tθx0, a direction counterclockwise around the center position O and orthogonal to the R direction, i.e., the θ direction, is positive. The R direction and the θ direction are also referred to as a meridional direction and a sagittal direction, respectively.

Next, a description will be given of an image point moving amount tx at the predetermined image point position A. With respect to the tilt-image shift sensitivity LSr (hr), a parallel component trx parallel to the straight line OA is affected by tilt-image shift sensitivity LSr (r) at an image height of r. An orthogonal component tθx orthogonal to the straight line OA is affected by the tilt-image shift sensitivity LS at the image height of <NUM>. With respect to the tilt-image shift sensitivity LSe (he) in the direction orthogonal to the R direction, the parallel component trx parallel to the straight line OA is affected by the tilt-image shift sensitivity LS at the image height of <NUM>. An orthogonal component tθx orthogonal to the straight line OA is affected by the tilt-image shift sensitivity LSe (r) at the image height of r. Hence, an image point moving amount tx is expressed by the following equations (<NUM>) to (<NUM>) where the parallel component trx and the orthogonal component tθx are used. <MAT> <MAT> <MAT>.

As described above, the image point moving amount tx is calculated, the image point moving amount tx being at the predetermined image point position A in the case where the rotational shake amount ωy about the Y-axis occurs. Similarly, an image point moving amount ty at the predetermined image point position A in the polar coordinate system in a case where a rotational shake amount ωx about the X-axis occurs is expressed by the following equations (<NUM>) to (<NUM>) where try represents a parallel component parallel to the straight line OA and tθy represents an orthogonal component orthogonal to the straight line OA. <MAT> <MAT> <MAT>.

Thus, an image point moving amount t at the predetermined image point position A in a case where a rotational shake amount (ωx, ωy) occurs about predetermined rotation axes that are orthogonal to the optical axis and intersect with the optical axis on the image pickup plane is expressed by the following equations (<NUM>) to (<NUM>) where tr represents a parallel component parallel to the straight line OA and tθ represents an orthogonal component orthogonal to the straight line OA. <MAT> <MAT> <MAT>.

The coefficients (KLS1, KLS2, KLS3, KLS4) in the equations (<NUM>) and (<NUM>) are as follows. <MAT> <MAT> <MAT> <MAT>.

As expressed by the equations (<NUM>) to (<NUM>), the image point moving amount t includes the image stabilization coefficient information (KLS1, KLS2, KLS3, KLS4) and the rotational shake amount (ωx, ωy), the image stabilization coefficient information (KLS1, KLS2, KLS3, KLS4) including the tilt-image shift sensitivity and the position information (r, θ) on the image point position. In this embodiment, the lens memory <NUM> stores in advance an image stabilization coefficient table as information on the tilt-image shift sensitivity, the image stabilization coefficient table including the image stabilization coefficient information (KLS1, KLS2, KLS3, KLS4) associated with the image point positions indicated in <FIG> in a matrix format. As a result, it is possible to easily acquire the image point moving amount t at the predetermined image point position A in a case where the rotational shake amount (ωx, ωy) occurs. An interval between the image point positions in the image stabilization coefficient table is set as appropriate. The image stabilization coefficient table may be managed not by using the polar coordinate system but by using an orthogonal coordinate system.

In order to reduce information to be stored in the lens memory <NUM>, the information on the tilt-image shift sensitivity may be tilt-image shift sensitivity for each image height or may be information with which the image point moving amount t can be acquired by using position information on the predetermined image point position on which image stabilization is to be performed. Further, the position information on the image point position may be information on the polar coordinate system or may be information on a predetermined coordinate system such as an orthogonal coordinate system. The information on the tilt-image shift sensitivity may be acquired by using a focal length depending on specifications of the image pickup optical system <NUM> or an image height expression based on a projection method.

In this embodiment, the decentering-image shift sensitivity is image point moving amounts in a decentering direction and in a direction orthogonal to the decentering direction relative to a decentering amount of the image stabilizing optical system <NUM> with respect to the optical axis of the image pickup optical system <NUM>. <FIG> indicates a relationship between an image height and decentering-image shift sensitivity in a case where the image stabilizing optical system <NUM> of this embodiment is decentered, the image height being in the decentering direction and in a central part of an image. <FIG> indicates a relationship between an image height and decentering-image shift sensitivity in the case where the image stabilizing optical system <NUM> in this embodiment is decentered, the image height being in the direction orthogonal to the decentering direction and in the central part of the image. As indicated in <FIG>, the higher the image height, the larger the image point moving amount in the case where the image stabilizing optical system <NUM> is decentered, the image stabilizing optical system <NUM> being designed to reduce eccentric distortion. In this embodiment, a proper image stabilizing driving amount for the image blur at the predetermined image point position can be acquired by using the decentering-image shift sensitivity acquired by using a design value of the image pickup optical system <NUM>. The decentering-image shift sensitivity of this embodiment is a value acquired by dividing, by <NUM>, the image point moving amount in a case where the image stabilizing optical system <NUM> is decentered by <NUM>, but the decentering amount of the image stabilizing optical system <NUM> is not limited to <NUM> and may be properly set.

<FIG> is a diagram illustrating a comparison between an image point movement at the predetermined image point position A and an image point movement at the central position of the image in a case where the image stabilizing optical system <NUM> is decentered. <FIG> schematically illustrates a state in which the stationary object image <NUM> changes to an object image <NUM> which is distorted into a trapezoid when each image point on the object image <NUM> moves along with a movement vector of the image point indicated by an arrow.

Hereinafter, a description will be given of an image point moving amount sx0 at the center position O of the image pickup plane and an image point moving amount sx at the predetermined image point position A in a case where the image stabilizing optical system <NUM> is decentered by a decentering amount x in the X-axis direction.

The image point moving amount sx is expressed by the following equation (<NUM>) where TS represents decentering-image shift sensitivity at the image height of <NUM>.

The image pickup plane on the X-Y plane is the polar coordinate system (R-θ coordinate system) where the origin is the center position O, and the coordinates of the predetermined image point position A are (r, θ). The image height indicated by the horizontal axis of <FIG> corresponds to an image height hr' in the R direction in the polar coordinate system of <FIG>, and the image height indicated by the horizontal axis of <FIG> corresponds to an image height he' in the direction orthogonal to the R direction, i.e., the θ direction, in the polar coordinate system of <FIG>. A decentering-image shift sensitivity coefficient kTS_r (hr') at the image height hr' relative to decentering-image shift sensitivity TS is expressed by the following equation (<NUM>) where TSr (hr') represents decentering-image shift sensitivity at the image height hr'.

A decentering-image shift sensitivity coefficient kTS_θ (he') at the image height he' relative to the decentering-image shift sensitivity TS is expressed by the following equation (<NUM>) where TSe (he') represents decentering-image shift sensitivity at the image height he'.

An image point moving amount sx0 is expressed by the following equations (<NUM>) to (<NUM>) where srx0 represents a parallel component parallel to the straight line OA and sθX0 represents an orthogonal component orthogonal to the straight line OA. <MAT> <MAT> <MAT>.

With respect to the sign of the parallel component srx0, a direction away from the center position O, i.e., the R direction, is positive, and with respect to the sign of the orthogonal component sθx0, the direction counterclockwise around the center position O and orthogonal to the R direction, i.e., the θ direction, is positive.

Next, a description will be given of an image point moving amount sx at the predetermined image point position A. With respect to the decentering-image shift sensitivity TSr (hr') in the R direction, the parallel component srx parallel to the straight line OA is affected by the decentering-image shift sensitivity TSr (r) at the image height of r. The orthogonal component sex orthogonal to the straight line OA is affected by the decentering-image shift sensitivity TS at the image height of <NUM>. With respect to the decentering-image shift sensitivity TSe (he') in the direction orthogonal to the R direction, the parallel component srx parallel to the straight line OA is affected by the decentering-image shift sensitivity TS at the image height of <NUM>. The orthogonal component sθx orthogonal to the straight line OA is affected by the decentering-image shift sensitivity TSe (r) at the image height of r. Hence, the image point moving amount sx is expressed by the following equations (<NUM>) to (<NUM>) where the parallel component srx and the orthogonal component sθx are used. <MAT> <MAT> <MAT>.

As described above, the image point moving amount sx is calculated, the image point moving amount sx being at the predetermined image point position A in a case where the image stabilizing optical system <NUM> is decentered by a decentering amount x in the X-axis direction. Similarly, an image point moving amount sy at the predetermined image point position A in the polar coordinate system in a case where the image stabilizing optical system <NUM> is decentered in the Y-axis direction by a decentering amount y is expressed by the following equations (<NUM>) to (<NUM>) where sry represents a parallel component parallel to the straight line OA and sθy represents an orthogonal component orthogonal to the straight line OA. <MAT> <MAT> <MAT>.

Thus, an image point moving amount s at the predetermined image point position A in a case where the image stabilizing optical system <NUM> is decentered from the optical axis is expressed by the following equations (<NUM>) to (<NUM>) where sr represents a parallel component parallel to the straight line OA and se represents an orthogonal component orthogonal to the straight line OA. <MAT> <MAT> <MAT>.

The coefficients (KTS1, KTS2, KTS3, KTS4) in the equations (<NUM>) and (<NUM>) are as follows. <MAT> <MAT> <MAT> <MAT>.

As expressed by equations (<NUM>) to (<NUM>), the image point moving amount s includes the image stabilization coefficient information (KTS1, KTS2, KTS3, KTS4) and a decentering amount (x, y), the image stabilization coefficient information (KTS1, KTS2, KTS3, KTS4) including the decentering-image shift sensitivity and the position information (r, θ) on the image point position. In this embodiment, the lens memory <NUM> stores in advance an image stabilization coefficient table as information on the decentering-image shift sensitivity, the image stabilization coefficient table including the image stabilization coefficient information (KTS1, KTS2, KTS3, KTS4) associated with image point positions in a matrix format. As a result, it is possible to easily acquire the image point moving amount s at the predetermined image point position A in the case where the image stabilizing optical system <NUM> is decentered. An interval between the image point positions in the image stabilization coefficient table is set as appropriate. The image stabilization coefficient table may be managed not by using the polar coordinate system but by using an orthogonal coordinate system.

In order to reduce information to be stored in the lens memory <NUM>, the information on the decentering-image shift sensitivity may be decentering-image shift sensitivity for each image height or may be information with which the image point moving amount s can be acquired by using position information on the predetermined image point position on which image stabilization is to be performed. Further, the position information on the image point position may be information on the polar coordinate system or may be information on a predetermined coordinate system such as an orthogonal coordinate system.

In this embodiment, a setting mode of the image pickup system <NUM> can be set to an image center image stabilization mode that sets, to the center of the image pickup plane, the predetermined image point position on which image stabilization is to be performed (image stabilizing position) and to an image stabilizing position setting mode that can set the image stabilizing position to the predetermined image point position other than the center of the image pickup plane. When the image stabilizing position setting mode is set, the image stabilizing position can be set via the display-operation unit <NUM>. A position that can be set via the display-operation unit <NUM> may be linked to an image point position on which autofocus or autophotometry is performed. The image point position on which autofocus is performed may be a position automatically detected by pupil detection, person detection, or the like. The information on the image stabilizing position (r, θ) on the image pickup plane is transmitted to the camera microcomputer <NUM>, and the image stabilization coefficient information to be used is selected from the image stabilization coefficient table.

The gyro sensor <NUM> detects the angular velocities about a plurality of rotation axes of the image pickup system <NUM> and outputs information on the rotational shake amount as the motion detection signal. In this embodiment, the gyro sensor <NUM> detects the angular velocities around the X-axis and around the Y-axis, and outputs information on the rotational shake amount (ωx, ωy). The acceleration sensor <NUM> detects acceleration in directions of a plurality of axes of the image pickup system <NUM> and outputs information on a translational shake amount as the motion detection signal. In this embodiment, the acceleration sensor <NUM> detects acceleration in the X-axis direction and in the Y-axis direction and outputs information on a translational shake amount (ax, ay). The gyro sensor <NUM> may include a plurality of sensors each of which detects an angular velocity around one axis. Similarly, the acceleration sensor <NUM> may include a plurality of sensors each of which detects acceleration in one direction.

The camera microcomputer <NUM> acquires the image stabilizing driving amount by using the information on the tilt-image shift sensitivity, the information on the decentering-image shift sensitivity, the information on the image stabilizing position, and the motion detection signals. For example, when the image blur at the predetermined image point position A is to be reduced by OIS, the image stabilizing optical system <NUM> may be moved so that the image point moving amount t caused by a rotational shake and the image point moving amount s caused by decentering the image stabilizing optical system <NUM> cancel each other out. Specifically, an image point moving amount (tr, tθ), which is acquired by decomposing the image point moving amount t caused by the rotational shake into two orthogonal components in the polar coordinate system, and the image point moving amount (sr, sθ), which is acquired by decomposing the image point moving amount s caused by decentering the image stabilizing optical system <NUM> into two orthogonal components in the polar coordinate system, may cancel each other out, i.e., sr = -tr and se = -te may be satisfied. That is, the following equations (<NUM>) and (<NUM>) may be satisfied. <MAT> <MAT>.

The camera microcomputer <NUM> can acquire the image stabilizing driving amount (x, y) of the image stabilizing optical system <NUM> from the image point moving amount (t, s) by using the equations (<NUM>) and (<NUM>).

<FIG> is a diagram illustrating arrows each indicating a ratio and a direction of an image point moving amount of a blur residual remained at each image point after the image blur at the predetermined image point position A is reduced by OIS according to this embodiment. As illustrated in <FIG>, the image blur at the set predetermined image point position A is reduced well while the image blur at the central part of the image is remained. An image point movement of the same motion vector as that at the image point position A occurs at an image point position A' that is origin-symmetrical to the predetermined image point position A where the central part of the image is regarded as the origin, and thus image blur at the image point position A' is also reduced. Hence, by properly setting the image stabilizing position at the predetermined position, which is not on the optical axis, within a range such that the image blur at the central part of the image is inconspicuous, the image blur can be reduced while a difference in image blur amounts in the entire image is reduced.

Since the equations (<NUM>) and (<NUM>) are linear simultaneous equations relating to the image stabilizing driving amount (x, y) of the image stabilizing optical system <NUM>, the image stabilizing driving amount (x, y) of the image stabilizing optical system <NUM> can be expressed by the following equations (<NUM>) and (<NUM>). <MAT> <MAT>.

The coefficients (K<NUM>, K<NUM>, K<NUM>, K<NUM>) in the equations (<NUM>) and (<NUM>) are as follows. <MAT> <MAT> <MAT> <MAT>.

As expressed by the equations (<NUM>) and (<NUM>), the image stabilizing driving amount (x, y) includes the image stabilization coefficient information (K<NUM>, K<NUM>, K<NUM>, K<NUM>) and the rotational shake amount (ωx, ωy). The lens memory <NUM> may store an image stabilization coefficient table including the image stabilization coefficient information (K<NUM>, K<NUM>, K<NUM>, K<NUM>) in a matrix format. In this case, it is possible to further easily acquire the image stabilizing driving amount (x, y) for the predetermined image point position A in the case where the rotational shake amount (ωx, ωy) occurs.

With respect to image blur caused by a translational shake, the image stabilizing driving amount may be acquired by using information on the translational shake amount output from the acceleration sensor <NUM>. The image stabilizing driving amount for the translational shake may be acquired by converting the translational shake amount (ax, ay) into the rotational shake amount (ωx, ωy) by using in-focus object distance information. In a case where the rotational shake and the translational shake simultaneously occur, the image stabilizing driving amount may be acquired by adding the image stabilizing driving amount for the translational shake and the image stabilizing driving amount for the rotational shake. The image stabilizing driving amount for the translational shake at the predetermined image point position may be acquired by multiplying the converted rotational shake amount by the image stabilization coefficient included in the information on the tilt-image shift sensitivity.

The tilt-image shift sensitivity and decentering-image shift sensitivity vary depending on a distance to an object on which the image pickup optical system <NUM> is in focus (in-focus position) and depending on a focal length (image pickup angle of view). In this embodiment, the lens memory <NUM> stores a plurality of different image stabilization coefficient tables for in-focus positions which the focusing optical system <NUM> determines and for focal lengths which the zooming optical system <NUM> determines. As a result, it is possible to reduce well the image blur at the predetermined image point position even during zooming and focusing.

The lens apparatus <NUM> may be detachably attachable to the image pickup apparatus <NUM>. In this case, information on the tilt-image shift sensitivity and information on the decentering-image shift sensitivity proper for each lens apparatus <NUM> may be used. As a result, even when a different lens apparatus <NUM> is attached to the image pickup apparatus <NUM> and is used, the image blur at the predetermined image point position can be reduced well.

In this embodiment, a description will be given of a method of reducing image blur by both OIS and IIS. In this embodiment, only a description of points different from the first embodiment will be given. In this embodiment, an outline configuration of an image pickup system <NUM> and an acquisition method of an image stabilizing driving amount of an image stabilizing optical system <NUM> are the same as those according to the first embodiment, and thus the description thereof will be omitted.

<FIG> is a configuration diagram illustrating a lens microcomputer <NUM> and a camera microcomputer <NUM> according to this embodiment. The lens microcomputer <NUM> includes a lens acquisition unit <NUM> and an OIS control unit <NUM>. The camera microcomputer <NUM> includes a camera acquisition unit <NUM>, an OIS image stabilization coefficient information acquisition unit (first acquisition unit) <NUM>, an IIS image stabilization coefficient information acquisition unit (third acquisition unit) <NUM>, and a setting unit <NUM>. The camera microcomputer <NUM> further includes an OIS image stabilizing driving amount acquisition unit (second acquisition unit) <NUM>, an IIS image stabilizing driving amount acquisition unit (fourth acquisition means) <NUM>, and an IIS control unit <NUM>. In this embodiment, the camera microcomputer <NUM> includes the OIS image stabilization coefficient information acquisition unit <NUM>, the IIS image stabilization coefficient information acquisition unit <NUM>, the OIS image stabilizing driving amount acquisition unit <NUM>, and the IIS image stabilizing driving amount acquisition unit <NUM>, but the present invention is not limited to this and the lens microcomputer <NUM> may include these. Alternatively, the lens microcomputer <NUM> may include the OIS image stabilization coefficient information acquisition unit <NUM> and the OIS image stabilizing driving amount acquisition unit <NUM>, and the camera microcomputer <NUM> may include the IIS image stabilization coefficient information acquisition unit <NUM> and the IIS image stabilizing driving amount acquisition unit <NUM>. Alternatively, the camera microcomputer <NUM> may include the OIS image stabilization coefficient information acquisition unit <NUM> and the OIS image stabilizing driving amount acquisition unit <NUM>, and the lens microcomputer <NUM> may include the IIS image stabilization coefficient information acquisition unit <NUM> and the IIS image stabilizing driving amount acquisition unit <NUM>.

In this embodiment, since the image blur at the predetermined image point position A is reduced by OIS and IIS, a higher image stabilization effect can be realized than in a case where the image blur is reduced only by OIS. When image blur at a predetermined image point position A is reduced by IIS, an image sensor <NUM> may be moved so that an image point moving amount t represented by the equations (<NUM>) to (<NUM>) described in the first embodiment is cancelled. An image stabilizing driving amount x' in the X-axis direction and an image stabilizing driving amount y' in the Y-axis direction of the IIS actuator <NUM> are expressed by the following equations (<NUM>) and (<NUM>). <MAT> <MAT>.

As expressed by the equations (<NUM>) and (<NUM>), the image stabilizing driving amount (x', y') includes the image stabilization coefficient information (K'<NUM>, K'<NUM>, K'<NUM>, K'<NUM>) and the rotational shake amount (ωx, ωy). The lens memory <NUM> may store, as information on the tilt-image shift sensitivity, an image stabilization coefficient table that includes the image stabilization coefficient information (K'<NUM>, K'<NUM>, K'<NUM>, K'<NUM>) in a matrix format. Using K'<NUM> or the like instead of the above-described image stabilization coefficient information (K<NUM>, K<NUM>, K<NUM>, K<NUM>) makes it possible to more easily acquire the image stabilizing driving amount (x', y') for the predetermined image point position A in a case where the rotational shake amount (ωx, ωy) occurs.

<FIG> illustrates a flow from a state in which power of the image pickup system <NUM> is turned on to a state in which the image-stabilization function is turned on and the image pickup apparatus <NUM> becomes an image pickup standby state. <FIG> illustrates a flow for performing image stabilization for a rotational shake during image pickup.

The flow of <FIG> is started by turning on the power of the image pickup system <NUM>.

In step S11, the lens microcomputer <NUM> transmits information on optical design of the image pickup optical system <NUM> to the camera microcomputer <NUM>, the information on the optical design having been stored in the lens memory <NUM> and acquired by the lens acquisition unit <NUM>.

In step S12, the camera acquisition unit <NUM> acquires the information on the optical design transmitted by the lens microcomputer <NUM>.

In step S13, the camera acquisition unit <NUM> acquires information on an image stabilizing position set in the image pickup apparatus <NUM>.

In step S14, the camera microcomputer <NUM> determines whether or not the OIS function has been turned on. If the camera microcomputer <NUM> determines that the OIS function has been turned on, the process proceeds to step S15, and if the camera microcomputer <NUM> determines that the OIS function has not been turned on, the process proceeds to step S16.

In step S15, the OIS image stabilization coefficient information acquisition unit <NUM> acquires, from the image stabilization coefficient table, the OIS image stabilization coefficient information (K<NUM>, K<NUM>, K<NUM>, K<NUM>) based on the information on the image stabilizing position and information on a focal length and an object distance set in the lens apparatus <NUM>.

In step S16, the camera microcomputer <NUM> determines whether or not the IIS function has been turned on. If the camera microcomputer <NUM> determines that the IIS function has been turned on, the process proceeds to step S17, and if the camera microcomputer <NUM> determines that the IIS function has not been turned on, the camera microcomputer <NUM> sets the image pickup apparatus <NUM> to the image pickup standby state.

In step S17, the IIS image stabilization coefficient information acquisition unit <NUM> acquires, from the image stabilization coefficient table, the IIS image stabilization coefficient information (K'<NUM>, K'<NUM>, K'<NUM>, K'<NUM>) based on the information on the image stabilizing position and the information on the focal length and the object distance set in the lens apparatus <NUM>.

In the flow of <FIG> described below, it is assumed that both the OIS function and the IIS function have been turned on.

In response to the camera shake being detected by the gyro sensor <NUM> (in response to detection of an angular velocity) during image pickup (exposure), the camera microcomputer <NUM> acquires information on the rotational shake amount from the gyro sensor <NUM> in step S21.

In step S22, the setting unit <NUM> sets a ratio between image stabilization by OIS and image stabilization by IIS (sharing ratio). In this embodiment, the sharing ratio is set such that <NUM>% of image stabilization is performed by OIS and <NUM>% of image stabilization is performed by IIS.

In step S23, the OIS image stabilizing driving amount acquisition unit <NUM> acquires the OIS image stabilizing driving amount (first image stabilizing driving amount) by using the OIS image stabilization coefficient information (K<NUM>, K<NUM>, K<NUM>, K<NUM>), the information on the rotational shake amount, and the sharing ratio.

In step S24, the OIS control unit <NUM> acquires the position of the image stabilizing optical system <NUM> output from the OIS encoder <NUM>.

In step S25, the OIS control unit <NUM> acquires the OIS driving amount of the OIS actuator <NUM> such that the movable range of the OIS actuator <NUM> is not exceeded. If the OIS driving amount and the OIS image stabilizing driving amount match, <NUM>% of the image blur amount is reduced by OIS.

After the process of step S25, the OIS control unit <NUM> drives the OIS actuator <NUM> via the OIS driver <NUM>.

In step S26, the IIS image stabilizing driving amount acquisition unit <NUM> acquires the IIS image stabilizing driving amount (second image stabilizing driving amount) by using the IIS image stabilization coefficient information (K'<NUM>, K'<NUM>, K'<NUM>, K'<NUM>), the information on the rotational shake amount, and the sharing ratio.

In step S27, the IIS control unit <NUM> acquires the position of the image sensor <NUM> output from the IIS encoder <NUM>.

In step S28, the IIS control unit <NUM> acquires the IIS driving amount of the IIS actuator <NUM> such that the movable range of the IIS actuator <NUM> is not exceeded. If the IIS driving amount and the IIS image stabilizing driving amount match, <NUM>% of the image blur amount is reduced by IIS.

The processing of steps S26 to S28 is executed in parallel with the processing of steps S23 to S25.

Hereinafter, examples will be described of the image pickup optical system <NUM> of the present disclosure with reference to the accompanying drawings.

<FIG> and <FIG> are sectional views illustrating optical systems L0 at wide-angle ends each focusing on an object at an infinite distance according to the first and second examples, respectively. Arrows in each sectional view represent a movement trajectory of each lens unit during zooming from the wide-angle end to a telephoto end. <FIG> is a sectional view illustrating the optical system L0 focusing on an object at an infinite distance according to the third embodiment. An arrow in <FIG> represents a movement trajectory of lens units during focusing from the infinite distance to a short distance. The optical system L0 according to each example is used in an image pickup apparatus such as a digital video camera, a digital still camera, a broadcasting camera, a surveillance camera, and a smartphone camera.

In each sectional view, a left side is an object side and a right side is an image side. The optical system L0 according to each example includes a plurality of lens units. In this specification, a lens unit is a group of lenses that move and stop integrally during zooming, focusing, or image stabilization. That is, in the optical system L0 according to each example, each distance between adjacent lens units varies during zooming or focusing. A lens unit may be a single lens or may include a plurality of lenses. A lens unit may include a diaphragm.

SP represents a diaphragm. IP represents an image plane and is an image pickup plane of an image sensor (photoelectric conversion element) such as a CCD sensor and a CMOS sensor. The image stabilizing optical system is decentered from an optical axis of the optical system L0 during OIS.

<FIG> and <FIG> are aberration diagrams when the optical systems L0 at the wide-angle ends focus on the objects at the infinite distances according to the first and second embodiments, respectively. <FIG> is an aberration diagram when the optical system L0 focuses on the object at the infinite distance according to the third embodiment.

In each spherical aberration diagram, Fno represents an F-number, and amounts of spherical aberration at a d-line (wavelength <NUM>) and a g-line (wavelength <NUM>) are indicated. In each astigmatism diagram, S indicates an amount of astigmatism in a sagittal image plane, and M indicates an amount of astigmatism in a meridional image plane. In each distortion diagram, an amount of distortion at the d-line is indicated. Each chromatic aberration diagram indicates an amount of lateral chromatic aberration at the g-line. ω represents an image pickup half angle of view (°).

Numerical Examples <NUM> to <NUM> corresponding to Examples <NUM> to <NUM> are given below.

In surface data of each numerical example, r represents a curvature radius of an optical surface, and d (mm) represents an on-axis distance (distance on an optical axis) between an m-th surface and an (m + <NUM>)-th surface, m representing the number of the surface counted from a light entering surface, nd represents a refractive index at the d-line of an optical member, and vd represents an Abbe number of an optical member. An Abbe number vd of a certain material is expressed by the following equation where Nd, NF, and NC represent refractive indexes at the d-line (wavelength <NUM>), F-line (wavelength <NUM>), and C-line (wavelength <NUM>) of Fraunhofer lines, respectively.

In each numerical example, d, a focal length (mm), an F-number, and a half angle of view (°) are all values in a state where the optical system L0 according to the example focuses on the object at the infinite distance. Aback focus (BF) is an air conversion length of a distance on the optical axis from a last lens surface (a lens surface closest to the image side) to a paraxial image plane. An overall optical length is a length acquired by adding the back focus to a distance on the optical axis from a front lens surface (a lens surface closest to the object side) to the last lens surface.

A * sign is attached to a right side of a surface number of an optical surface which is an aspherical surface. An aspherical shape is expressed by the following equation where X represents an amount of displacement from a surface vertex in the optical axis direction, h represents a height from the optical axis in the direction orthogonal to the optical axis, R represents a paraxial curvature radius, k represents a conic constant, A4, A6, A8, A10, and A12 represent aspherical surface coefficients of respective orders. <MAT> "e ± XX" in each aspherical surface coefficient represents "× <NUM> ± XX".

In each numerical example, tilt-image shift sensitivity data and decentering-image shift sensitivity data are given. Methods for acquiring these pieces of data is described below with reference to <FIG>.

<FIG> are diagrams of ray traces of principal rays at the d-line of respective angle of views (a principal ray at a half angle of view of <NUM> and a principal ray at a half angle of view of ω), the principal rays entering from an object-side surface of the optical system L0 according to Example <NUM>. <FIG> illustrate the optical system L0 at a stationary state, at a state in which an image stabilizing optical system tilts by a tilt angle ωx around the X-axis about an intersection of an image plane IP and the optical axis, and at a state in which the image stabilizing optical system is decentered by a decentering amount y in the Y-axis direction.

Tilt-image shift sensitivity for each image height in the tilt direction (R direction) is acquired by dividing an image point moving amount ΔyLSr (hr) by the tilt angle ωx, the image point moving amount ΔyLSr (hr) being a difference in imaging positions on the image plane IP corresponding to the respective half angle of views of <FIG>. The tilt-image shift sensitivity for each image height in a direction orthogonal to the tilt direction is acquired by using an image point moving amount ΔyLSθ for each image height hθ in the X-axis direction. In each example, the tilt-image shift sensitivity is acquired from the image point moving amount when the optical system L0 tilts by <NUM>°. With respect to the sign of the tilt angle ωx, a counterclockwise direction in <FIG> is positive and a clockwise direction in <FIG> is negative. With respect to the sign of the image point moving amount Δy, an upward direction in <FIG> is positive and a downward direction in <FIG> is negative.

Decentering-image shift sensitivity for each image height in a decentering direction (R direction) is acquired by dividing an image point moving amount ΔyTSr (hr) by a decentering amount y of the image stabilizing optical system, the image point moving amount ΔyTSr being a difference in the imaging positions on the image plane IP corresponding to respective half angle of views of <FIG> and <FIG>. In each example, the decentering-image shift sensitivity for each image height in the direction orthogonal to the decentering direction is acquired by using the image point moving amount ΔyTSθ for each image height he in the X-axis direction. The decentering-image shift sensitivity data in each embodiment is acquired from the image point moving amount in a case where the image stabilizing optical system is decentered by <NUM>.

00000e+<NUM> A4=-<NUM>. 69442e-<NUM> A6=-<NUM>. 29053e-<NUM> A <NUM>=-<NUM>. 72363e-<NUM> A10= <NUM>. 65343e-<NUM> A12=-<NUM>. 99227e-<NUM>.

00000e+<NUM> A <NUM>= <NUM>. 87606e-<NUM> A <NUM>= <NUM>. 45872e-<NUM> A <NUM>= <NUM>. 78338e-<NUM> A10=-<NUM>. 10980e-<NUM> A12= <NUM>. 98590e-<NUM>.

00000e+<NUM> A <NUM>=-<NUM>. 01869e-<NUM> A <NUM>= <NUM>. 17344e-<NUM> A <NUM>=-<NUM>. 64177e-<NUM> A10=-<NUM>. 98832e-<NUM> A12= <NUM>. 64092e-<NUM>.

00000e+<NUM> A <NUM>= <NUM>. 63774e-<NUM> A <NUM>= <NUM>. 32838e-<NUM> A <NUM>=-<NUM>. 34772e-<NUM> A10=-<NUM>. 39973e-<NUM> A12= <NUM>. 51086e-<NUM>.

00000e+<NUM> A <NUM>=-<NUM>. 51719e-<NUM> A <NUM>= <NUM>. 25180e-<NUM> A <NUM>=-<NUM>. 32709e-<NUM> A10= <NUM>. 08044e-<NUM> A12= <NUM>. 30860e-<NUM>.

00000e+<NUM> A <NUM>=-<NUM>. 60571e-<NUM> A <NUM>= <NUM>. 26402e-<NUM> A <NUM>=-<NUM>. 23562e-<NUM> A10= <NUM>. 45147e-<NUM> A12=-<NUM>. 39940e-<NUM>.

Tilt-Image Shift Sensitivity Data for Each Image Height in Tilt Direction at Wide-Angle End.

Tilt-Image Shift Sensitivity Data for Each Image Height in Direction Orthogonal to Tilt Direction at Wide-Angle End.

Decentering-Image Shift Sensitivity Data for Each Image Height in Decentering Direction at Wide-Angle End.

Decentering-Image Shift Sensitivity Data for Each Image Height in Direction Orthogonal to Decentering Direction at Wide-Angle End.

00000e+<NUM> A <NUM>= <NUM>. 30213e-<NUM> A <NUM>=-<NUM>. 33976e-<NUM> A <NUM>= <NUM>. 25008e-<NUM> A10=-<NUM>. 60253e-<NUM> A12= <NUM>. 03363e-<NUM> A14=-<NUM>. 03702e-<NUM> A16= <NUM>. 16318e-<NUM>.

81344e-<NUM> A <NUM>= <NUM>. 49709e-<NUM> A <NUM>=-<NUM>. 34544e-<NUM> A <NUM>=-<NUM>. 05516e-<NUM> A10= <NUM>. 07443e-<NUM> A12=-<NUM>. 78552e-<NUM> A14= <NUM>. 05128e-<NUM>.

00000e+<NUM> A <NUM>=-<NUM>. 01759e-<NUM> A <NUM>=-<NUM>. 39642e-<NUM> A <NUM>= <NUM>. 23272e-<NUM> A10=-<NUM>. 49283e-<NUM> A12= <NUM>. 62808e-<NUM> A14= <NUM>. 24953e-<NUM> A16=-<NUM>. 43479e-<NUM>.

00000e+<NUM> A <NUM>= <NUM>. 34981e-<NUM> A <NUM>=-<NUM>. 29871e-<NUM> A <NUM>= <NUM>. 67920e-<NUM> A10=-<NUM>. 48374e-<NUM> A12= <NUM>. 50043e-<NUM> A14=-<NUM>. 59777e-<NUM>27th Surface.

00000e+<NUM> A <NUM>=-<NUM>. 04129e-<NUM> A <NUM>= <NUM>. 64851e-<NUM> A <NUM>=-<NUM>. 06038e-<NUM> A10= <NUM>. 87911e-<NUM> A12=-<NUM>. 56493e-<NUM> A14=-<NUM>. 17880e-<NUM> A16=-<NUM>. 10043e-<NUM>.

00000e+<NUM> A <NUM>=-<NUM>. 00659e-<NUM> A <NUM>= <NUM>. 67376e-<NUM> A <NUM>=-<NUM>. 05021e-<NUM> A10= <NUM>. 04492e-<NUM> A12=-<NUM>. 97985e-<NUM>.

00000e+<NUM> A <NUM>= <NUM>. 14904e-<NUM> A <NUM>=-<NUM>. 26885e-<NUM> A <NUM>= <NUM>. 11936e-<NUM> A10=-<NUM>. 96590e-<NUM> A12= <NUM>. 25155e-<NUM>.

Tilt-Image Shift Sensitivity Data for Each Image Height in Tilt Direction when Object at Infinite Distance is in Focus.

Tilt-Image Shift Sensitivity Data for Each Image Height in Direction Orthogonal to Tilt Direction when Object at Infinite Distance is in Focus.

Decentering-Image Shift Sensitivity Data for Each Image Height in Decentering Direction when Object at Infinite Distance is in Focus.

Decentering-Image Shift Sensitivity Data for Each Image Height in Direction Orthogonal to Decentering Direction when Object at Infinite Distance is in Focus.

As described above, by using the configuration of the present disclosure, image blur at a predetermined image point position including a center of an optical axis can be easily reduced well.

In each embodiment, the information on the image shift sensitivity relative to the decentering of the image stabilizing optical system <NUM> associated with the image point position is the image stabilization coefficient table including the image stabilization coefficient information associated with the image point position in a matrix format, but the present disclosure is not limited to this. The information on the image shift sensitivity relative to the decentering of the image stabilizing optical system <NUM> associated with the image point position may be the decentering-image shift sensitivity TSr (hr) and TSθ (hθ) or may be the off-axis image stabilization coefficient information (KTS1, KTS2, KTS3, KTS4) acquired from decentering-image shift sensitivity. Alternatively, the information on the image shift sensitivity relative to the decentering of the image stabilizing optical system <NUM> associated with the image point position may be the image stabilization coefficient information (K<NUM>, K<NUM>, K<NUM>, K<NUM>) calculated in combination with the information on the image shift sensitivity relative to the tilt of the image pickup optical system <NUM> associated with the image point position. That is, the information on the image shift sensitivity relative to the decentering of the image stabilizing optical system <NUM> associated with the image point position may be any information with which it is possible to acquire the moving amount of the predetermined image point position relative to the decentering of the image stabilizing optical system <NUM>.

In each embodiment, the information on the image shift sensitivity relative to the tilt of the image pickup optical system <NUM> associated with the image point position is the image stabilization coefficient table including the image stabilization coefficient information associated with the image point position in the matrix format, but the present disclosure is not limited to this. The information on the image shift sensitivity relative to the tilt of the image pickup optical system <NUM> associated with the image point position may be an image height expression based on the focal length or the projection method which are specified in the image pickup optical system <NUM> or may be the tilt-image shift sensitivity LSr (hr) and LSe (he). Alternatively, the information on the image shift sensitivity relative to the tilt of the image pickup optical system <NUM> associated with the image point position may be the off-axis image stabilization coefficient information (KLS1, KLS2, KLS3, KLS4) acquired from the tilt-image shift sensitivity. That is, the information on the image shift sensitivity relative to the tilt of the image pickup optical system <NUM> associated with the image point position may be any information with which it is possible to acquire the moving amount of the predetermined image point position relative to the tilt of the image pickup optical system <NUM>.

In each embodiment, the decentering-image shift sensitivity and the tilt-image shift sensitivity are described as information for each image height in the decentering direction of the image stabilizing optical system <NUM> (R direction) or in the direction orthogonal to the decentering direction. However, the decentering-image shift sensitivity and the tilt-image shift sensitivity may be information determined for each image point position on the entire image pickup plane in the predetermined direction on the image pickup plane. In that case, the decentering-image shift sensitivity or tilt-image shift sensitivity may be acquired directly from the image point moving amount on the entire image pickup plane acquired by using the design value of the image pickup optical system <NUM>.

In each numerical example, the image point position is acquired by using the imaging position of the principal ray but may be acquired by using a peak position of a modulation transfer function (MTF).

The camera microcomputer <NUM> may perform image stabilization by using an electronic image stabilization function that changes an effective pixel area of the image sensor <NUM>. That is, the camera microcomputer <NUM> may function as one of the image stabilizing units.

The projection method of the image pickup optical system <NUM> is not limited to the central projection method and may be another projection method such as an equidistant projection method.

Claim 1:
A control apparatus (<NUM>, <NUM>) for acquiring a first image stabilizing driving amount of an image stabilizing optical system (<NUM>) included in an image pickup optical system (<NUM>) and configured to perform image stabilization, the control apparatus (<NUM>, <NUM>) comprising:
a first acquisition unit (<NUM>, <NUM>) configured to acquire information on image shift sensitivity relative to decentering of the image stabilizing optical system (<NUM>), the information being associated with an image point position of the image pickup optical system (<NUM>); and
a second acquisition unit (<NUM>, <NUM>) configured to acquire the first image stabilizing driving amount of the image stabilizing optical system (<NUM>) during the image stabilization,
wherein the second acquisition unit (<NUM>, <NUM>) is configured to acquire the first image stabilizing driving amount associated with a predetermined image point position by using the information on the image shift sensitivity associated with the predetermined image point position;
characterized in that
the information on the image shift sensitivity is acquired by using information indicating a moving amount of the predetermined image point position relative to a tilt of the image pickup optical system (<NUM>).