Control apparatus, image pickup apparatus, control method, and non-transitory computer-readable storage medium which are capable of performing tilt correction

Patent metadata

Field	Value
Publication number	US-9883104-B2
Application number	US-201615049378-A
Country	US
Kind code	B2
Filing date	Feb 22, 2016
Priority date	Feb 26, 2015
Publication date	Jan 30, 2018
Grant date	Jan 30, 2018

Abstract

A control apparatus includes a first angle calculating unit configured to calculate a first angle based on an acceleration detected by an acceleration detector, an analyzing unit configured to analyze a vibration state based on at least one of the acceleration and an angular velocity detected by an angular velocity detector, a second angle calculating unit configured to calculate a second angle based on the angular velocity, the first angle, and the vibration state, and a correcting unit configured to perform tilt correction based on the second angle.

First claim

What is claimed is:

1. A control apparatus comprising:
at least one processor executing computer executable instructions or at least one circuit which functions as:
a first angle calculating unit that calculates a first angle based on an acceleration detected by an acceleration detector;
an analyzing unit that analyzes a vibration state based on at least one of the acceleration and an angular velocity detected by an angular velocity detector;
a second angle calculating unit that calculates a second angle based on the angular velocity, the first angle, and the vibration state, the second angle being an angle with respect to a direction that is perpendicular to a gravity direction; and
a correcting unit that performs tilt correction of a horizontal component of an image pickup apparatus or tilt component of the image pickup apparatus based on the second angle.

2. The control apparatus according to claim 1 , wherein the second angle calculating unit changes a relative weight between the angular velocity and the first angle depending on the vibration state to calculate the second angle.

3. The control apparatus according to claim 2 , wherein the second angle calculating unit:
increases a weight of the angular velocity if the vibration state indicates that a vibration is larger than a predetermined amount, and
increases a weight of the first angle if the vibration state indicates that the vibration is smaller than the predetermined amount.

4. The control apparatus according to claim 1 , wherein:
the first angle calculating unit calculates a tilt angle as the first angle, and
the second angle calculating unit calculates a horizontal angle as the second angle based on the tilt angle.

5. The control apparatus according to claim 1 , wherein:
the first angle calculating unit calculates a horizontal angle as the first angle, and
the second angle calculating unit calculates a tilt angle as the second angle based on the horizontal angle.

6. The control apparatus according to claim 1 , wherein the second angle calculating unit calculates the second angle by using a Kalman filter capable of changing a Kalman gain.

7. The control apparatus according to claim 1 , wherein the correcting unit includes a setting unit that sets a tilt correction amount of an image based on the second angle.

8. The control apparatus according to claim 7 , wherein the correcting unit includes an image processing unit that cuts out an image based on the tilt correction amount to perform the tilt correction.

9. The control apparatus according to claim 1 , wherein the correcting unit includes a drive unit that drives, based on the second angle, at least one of an image pickup element, a lens, and a body including the lens and the image pickup element integrated with each other.

10. The control apparatus according to claim 1 , wherein the at least one processor or the at least one circuit further functions as:
a third angle calculating unit that removes a low frequency component from the angular velocity detected by the angular velocity detector to calculate a third angle; and
a correction angle calculating unit that calculates a correction angle based on the second angle and the third angle,
wherein the correcting unit performs the tilt correction based on the correction angle.

11. The control apparatus according to claim 10 ,
wherein the correction angle calculating unit includes a gain changing unit that changes a gain based on a signal which is obtained by subtracting the third angle from the second angle, and
wherein the correction angle calculating unit calculates the correction angle based on the second angle, the third angle, and the gain.

12. The control apparatus according to claim 10 ,
wherein the correction angle calculating unit includes a gain changing unit that changes a gain based on the second angle, and
wherein the correction angle calculating unit calculates the correction angle based on the second angle, the third angle, and the gain.

13. The control apparatus according to claim 11 , wherein the gain changing unit changes the gain based on the first angle.

14. The control apparatus according, to claim 10 , wherein the third angle calculating unit includes a limiting unit that limits a range of the third angle based on the second angle.

15. The control apparatus according to claim 10 , wherein the at least one processor or the at least one circuit further functions as a setting unit that sets a tilt correction amount of an image based on the correction angle.

16. The control apparatus according to claim 10 ,
wherein the correction angle calculating unit includes a gain changing unit that chances a gain based on a tilt angle as the second angle, and
wherein the correction angle calculating unit calculates a horizontal correction angle as the correction angle based on the tilt angle, the third angle, and the gain.

17. The control apparatus according to claim 10 ,
wherein the correction angle calculating unit includes a gain changing unit that changes a gain based on a horizontal angle as the second angle, and
wherein the correction angle calculating unit that calculates a tilt correction angle as the correction angle based on the horizontal angle, the third angle, and the gain.

18. An image pickup apparatus comprising:
an image pickup element configured to photoelectrically convert an optical image formed via an optical system to output an image signal;
an acceleration detector configured to detect an acceleration;
an angular velocity detector configured to detect an angular velocity; and
at least one processor which functions as:
a first angle calculating unit that calculates a first angle based on the acceleration;
an analyzing unit that analyzes a vibration state based on at least one of the acceleration and the angular velocity;
a second angle calculating unit that calculates a second angle based on the angular velocity, the first angle, and the vibration state, the second angle being an angle with respect to a direction that is perpendicular to a gravity direction; and
a correcting unit that performs tilt correction of a horizontal component of an image pickup apparatus or tilt correction of a tilt component of the image pickup apparatus based on the second angle.

19. A control method comprising the steps of:
calculating a first angle based on an acceleration detected by an acceleration detector;
analyzing a vibration state based on at least one of the acceleration and an angular velocity detected by an angular velocity detector;
calculating a second angle based on the angular velocity, the first angle, an the vibration state, the second angle being an angle with respective to a direction that is perpendicular to a gravity direction; and
performing tilt correction of a horizontal component of an image pickup apparatus or tilt correction of a tilt component of the image pickup apparatus based on the second angle.

20. A non-transitory computer-readable storage medium which stores a program causing a computer to execute a process comprising the steps of:
calculating a first angle based on an acceleration detected by an acceleration detector;
analyzing a vibration state based on at least one of the acceleration and an angular velocity detected by an angular velocity detector;
calculating a second angle based on the angular velocity, the first angle, and the vibration state, the second angle being an angle with respect to a direction that is perpendicular to a gravity direction; and
per

Assignees

• Canon Kk

Inventors

• Wakamatsu Nobushige

Classifications

• H04N23/68 Primary

  for stable pick-up of the scene, e.g. compensating for camera body vibrations · CPC title

• H04N23/687

  by shifting the lens or sensor position · CPC title

• H04N23/6812 Primary

  based on additional sensors, e.g. acceleration sensors · CPC title

• H04N23/6815 Primary

  by distinguishing pan or tilt from motion · CPC title

• H04N23/682

  Vibration or motion blur correction · CPC title