# US 10,313,593 B2 · Image stabilization apparatus and image stabilization method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,313,593 B2 - Document ID: US10313593B2 - Status: Granted - Kind: B2 - Application number: 15/290,498 - Filed: 2016-10-11 - Published: 2017-05-11 - Granted: 2019-06-04 - Earliest claimed: 2015-11-05 - Assignees: Canon Kabushiki Kaisha - Applicants: Canon Kabushiki Kaisha - Inventors: Shimpei Miyahara - Web page: https://patentgrep.com/patent/US10313593B2 ## CPC - H04N 23/687: {by shifting the lens or sensor position} - H03H 17/0211: {using specific transformation algorithms, e.g. WALSH functions, Fermat transforms, Mersenne transforms, polynomial transforms, Hilbert transforms (correlation computation G06F17/156)} - H03H 17/04: Recursive filters - H04N 23/6811: {based on the image signal} - H04N 23/6812: {based on additional sensors, e.g. acceleration sensors} - G03B 2205/0007: Movement of one or more optical elements for control of motion blur - G03B 2217/005: Blur detection - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - H03H: IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS (waveguides, resonators, lines or other devices of the waveguide type H01P) - G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D) ## Abstract An image stabilization apparatus comprises: an identification unit that, based on an angular velocity signal outputted from a shake detection unit, a motion vector calculated from a difference between frames of images outputted from an image sensor, and a position signal indicating a position of a correction unit that corrects a shake optically, identifies an output variation of the shake detection unit; and a conversion unit that converts the angular velocity signal into a shake correction amount by correcting the angular velocity signal based on the output variation identified by the identification unit. ## Claims ### Claim 1 An age stabilization apparatus comprising: an identification unit that, based on an angular velocity signal outputted from an angular velocity sensor, a motion vector calculated from a difference between frames of images outputted from image sensor, and a position signal indicating a position of a correction unit that corrects a shake optically, identifies an output variation of the angular velocity sensor; and a conversion unit that converts the angular velocity signal into a shake correction amount signal by correcting the angular velocity signal based on the output variation identified by the identification unit, wherein the output variation is a variation of a sensitivity and an offset of the angular velocity sensor, and wherein the conversion unit converts the angular velocity signal into the shake correction amount signal by applying the variation of the sensitivity of the angular velocity sensor and the offset of the angular velocity sensor to the angular velocity signal; each unit is implemented by at least one processor or circuitry, or combination thereof. ### Claim 2 (depends on 1) The image stabilization apparatus according to claim 1, wherein a position detection unit that outputs the position detection signal detects the position of the correction unit and outputs the position signal, and the position detection unit is implemented by the at least one processor or circuitry, or combination thereof. ### Claim 3 (depends on 2) The image stabilization apparatus according to claim 2, wherein the position detection unit predicts the position of the correction unit from the angular velocity signal and outputs the position signal. ### Claim 4 (depends on 1) The image stabilization apparatus according to claim 1, wherein the conversion unit, based on the output variation, changes a coefficient used in the conversion. ### Claim 5 (depends on 1) The image stabilization apparatus according to claim 1, wherein the identification unit uses a Kalman filter or a recursive least-squares method to perform the identification, and the identification unit comprises a computation unit for computing an error diffusion of an identification result. ### Claim 6 (depends on 5) The image stabilization apparatus according to claim 5, wherein the conversion unit makes a frequency band to process wider in a case where the error diffusion is less than or equal to a predetermined range than in a case where the error diffusion is within the range. ### Claim 7 (depends on 5) The image stabilization apparatus according to claim 5, further comprising a distance detector that detects a distance to a subject, wherein the computation unit changes the error diffusion into a larger value if the distance to the subject fluctuates by a predetermined value or greater. ### Claim 8 (depends on 5) The image stabilization apparatus according to claim 5, further comprising a driver that d a zoom lens for changing a focal length, wherein the identification unit, if the focal length is a predetermined first focal length, sets a coefficient used for the identification so that a convergence speed of the identification become slower than a case of a second focal length that is longer than the first focal length. ### Claim 9 (depends on 5) The image stabilization apparatus according to claim 5, further comprising a shutter release capable of a two stage operation in accordance with a pressing amount, wherein the identification unit, at a time at which a first stage operation of the shutter release unit is performed, sets a coefficient used for the identification so that a convergence speed of the identification is faster than at other times. ### Claim 10 (depends on 9) The image stabilization apparatus according to claim 9, further comprising a driver that drives a focusing lens, wherein the time at which a first stage operation of the shutter release u is performed is a period from a time after a focus by a drive unit until a time prior to a still image capturing. ### Claim 11 (depends on 5) The image stabilization apparatus according to claim 5, further comprising a shutter release unit capable of a two stage operation in, accordance with a pressing amount, wherein a frame rate at a time at which a first stage operation of the shutter release unit is performed is higher than at other times. ### Claim 12 (depends on 11) The image stabilization apparatus according to claim 11, further comprising a driver that drives a focusing lens, wherein the time at which a first stage operation of the shutter release unit is performed is a period from a time after a focus by a drive unit until a time prior to a sty 11 image capturing. ### Claim 13 (depends on 1) The image stabilization apparatus according to claim 1, further comprising: a second conversion unit that obtains a second shake correction amount based on, among the angular velocity signal outputted from the angular velocity sensor an angular velocity signal of a frequency band that is narrower than a frequency band used in the conversion to the shake correction amount by the conversion unit; a selection unit that selects either the shake correction amount obtained by the conversion unit or the second shake correction amount obtained by the second conversion unit; and a driver that drives the correction unit based on the shake correction amount selected by the selection unit; each the second conversion unit and the selection unit is implemented by the at least one processor or circuitry, or combination thereof. ### Claim 14 (depends on 13) The image stabilization apparatus according to claim 13, wherein the conversion unit includes an HR filter, and the conversion unit changes an intermediate variable simultaneously to changing a band of the IIR filter if the selection unit selects the second shake correction amount, and does not change the intermediate variable if the selection unit selects the shake correction amount obtained by the conversion unit. ### Claim 15 (depends on 1) The image stabilization apparatus according to claim 1, further comprising a determination unit that determines a reliability of the motion vector, wherein if the reliability of the motion vector is less than a predetermined reliability, the identification unit does not perform the identification; the determination unit is implemented by the at least one processor or circuitry, or combination thereof. ### Claim 16 (depends on 15) The image stabilization apparatus according to claim 15, wherein the conversion unit includes an IIR filter, and if a time period over which the identification is not performed by the identification unit is continued for a predetermined duration that is determined in advance, the conversion unit reduces a band of the IIR filter. ### Claim 17 (depends on 1) The image stabilization apparatus according to claim 1, wherein if the angular velocity signal is not within a predetermined range, the identification unit does not perform the identification. ### Claim 18 (depends on 1) The image stabilization apparatus according to claim 1, wherein if a sum of the correction angular velocity obtained from the motion vector and the position signal is not within a predetermined range, the identification unit does not perform the identification. ### Claim 19 (depends on 1) The image stabilization apparatus according to claim 1, wherein the conversion unit converts the angular velocity signal into the shake correction amount signal by applying the variation of the sensitivity of the angular velocity sensor to the angular velocity signal to obtain an adjusted angular velocity signal and by adding the offset of the angular velocity sensor to the adjusted angular velocity signal to obtain the shake correction amount signal. ### Claim 20 (depends on 19) The image stabilization apparatus according to claim 19, wherein the adjusted angular velocity signal is obtained by multiplying the variation of the sensitivity by the angular velocity signal. ### Claim 21 An image stabilization method, comprising: identifying an output variation of an angular velocity sensor based on an angular velocity signal outputted from the angular velocity sensor, a motion vector calculated from a difference between frames of images outputted from an image sensor, and a position signal indicating a position of a correction unit that corrects a shake optically; correcting the angular velocity signal based on the identified output variation and converting the corrected angular velocity signal into a shake correction amount signal; and correcting the shake based on the shake correction amount signal, wherein the output variation is a variation of a sensitivity and an offset of the angular velocity sensor; and wherein the angular velocity signal is corrected into the shake correction amount signal by applying the variation of the sensitivity of the angular velocity sensor and the offset of the angular velocity sensor to the angular velocity signal. ### Claim 22 (depends on 21) The image stabilization, method according to claim 21, wherein the position of the correction unit for correcting a shake optically is detected, and the position signal indicating the detected position is outputted. ### Claim 23 (depends on 21) The image stabilization method according to claim 21, wherein the position of the correction unit for correcting a shake optically is predicted from the angular velocity signal, and the position signal indicating the predicted position is outputted.