# US 9,883,104 B2 · Control apparatus, image pickup apparatus, control method, and non-transitory computer-readable storage medium which are capable of performing tilt correction > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,883,104 B2 - Document ID: US9883104B2 - Status: Granted - Kind: B2 - Application number: 15/049,378 - Filed: 2016-02-22 - Published: 2016-09-01 - Granted: 2018-01-30 - Earliest claimed: 2015-02-26 - Assignees: Canon Kabushiki Kaisha - Applicants: Canon Kabushiki Kaisha - Inventors: Nobushige Wakamatsu - Web page: https://patentgrep.com/patent/US9883104B2 ## CPC - H04N 23/68: for stable pick-up of the scene, e.g. compensating for camera body vibrations - H04N 23/6812: {based on additional sensors, e.g. acceleration sensors} - H04N 23/687: {by shifting the lens or sensor position} - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## 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. ## Claims ### Claim 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. ### Claim 2 (depends on 1) 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. ### Claim 3 (depends on 2) 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. ### Claim 4 (depends on 1) 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. ### Claim 5 (depends on 1) 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. ### Claim 6 (depends on 1) 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. ### Claim 7 (depends on 1) 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. ### Claim 8 (depends on 7) 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. ### Claim 9 (depends on 1) 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. ### Claim 10 (depends on 1) 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. ### Claim 11 (depends on 10) 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. ### Claim 12 (depends on 10) 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. ### Claim 13 (depends on 11) The control apparatus according to claim 11, wherein the gain changing unit changes the gain based on the first angle. ### Claim 14 (depends on 10) 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. ### Claim 15 (depends on 10) 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. ### Claim 16 (depends on 10) 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. ### Claim 17 (depends on 10) 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. ### Claim 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. ### Claim 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. ### Claim 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 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. ### Claim 21 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 information related to an acceleration detected by a first detector; an analyzing unit that analyzes a vibration state based on at least one of the information related to the acceleration and information related to an angular velocity detected by a second detector; a second angle calculating unit that calculates a second angle based on the information related to 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. ### Claim 22 (depends on 21) The control apparatus according to claim 21, wherein the second angle calculating unit changes a relative weight between the information related to the angular velocity and the first angle depending on the vibration state to calculate the second angle. ### Claim 23 (depends on 22) The control apparatus according to claim 22, wherein the second angle calculating unit: increases a weight of the information related to 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. ### Claim 24 (depends on 21) The control apparatus according to claim 21, wherein: the first angle calculating unit calculates a tilt angle as the first angle, and the second angle calculating unit calculate a horizontal angle as the second angle based on the tilt angle. ### Claim 25 (depends on 21) The control apparatus according to claim 21, whereon: the first angle calculating unit calculates 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. ### Claim 26 (depends on 21) The control apparatus according to claim 21, wherein the second angle calculating unit calculates the second angle by using a Kalman filter capable of changing a Kalman gain. ### Claim 27 (depends on 21) The control apparatus according to claim 21, wherein the correcting unit includes a setting unit that sets a tilt correction amount of an image based on the second angle. ### Claim 28 (depends on 27) The control apparatus according to claim 27, 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. ### Claim 29 (depends on 21) The control apparatus according to claim 21, 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. ### Claim 30 (depends on 21) The control apparatus according to claim 21, 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 information related to the angular velocity detected by the second 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. ### Claim 31 (depends on 30) The control apparatus according to claim 30, wherein the correction angle calculating unit includes a gain changing unit that change 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. ### Claim 32 (depends on 30) The control apparatus according to claim 30, 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. ### Claim 33 (depends on 31) The control apparatus according to claim 31, wherein the gain changing unit changes the gain based on the first angle. ### Claim 34 (depends on 30) The control apparatus according to claim 30, wherein the third angle calculating unit includes a limiting unit that limits a range of the third angle based on the second angle. ### Claim 35 (depends on 30) The control apparatus according to claim 30, 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. ### Claim 36 (depends on 30) The control apparatus according to claim 30, 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. ### Claim 37 (depends on 30) The control apparatus according to claim 30, 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. ### Claim 38 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; a first detector configured to detect information related to an acceleration; a second detector configured to detect information related to an angular velocity; and at least one processor which functions as: a first angle calculating unit that calculates a first angle based on the information related to acceleration; an analyzing unit that analyzes a vibration state based on at least one of the information related to the acceleration and the information related to the angular velocity; a second angle calculating unit that calculates a second angle based on the information related to 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. ### Claim 39 A control method comprising the steps of, calculating a first angle based on information related to an acceleration detected by a first detector; analyzing a vibration state based on at least one of the information related to the acceleration and information related to an angular velocity detected by a second detector; calculating a second angle based on the information related to 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 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. ### Claim 40 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 information related to an acceleration detected by a first detector; analyzing a vibration state based on at least one of the information related to the acceleration and information related to an angular velocity detected by a second detector; calculating a second angle based on the information related to 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 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. ### Claim 41 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 information related to an acceleration detected by a first detector; an analyzing unit that analyzes a vibration state based on at least one of the information related to the acceleration and information related to an angular velocity detected by a second detector: a second angle calculating unit that calculates a second angle based on the information elated to 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 o the second angle, wherein the second angle calculating unit: increases a weight of the information related to the angular velocity in a case where the vibration state indicates that a vibration is larger than or equal to a predetermined amount compared with a case where the vibration is smaller than the predetermined amount, and decreases a weight of the first angle in a case where the vibration state indicates that the vibration is larger than or equal to the predetermined amount compared with a case where the vibration is smaller than the predetermined amount. ### Claim 42 An image pickup apparatus comprising: an image pickup element configured to photoelectrically convert an optical image formed via n optical system to output an image signal; a first detector configured to detect information related to an acceleration; a second detector configured to detect information related to an, angular velocity; and at least one processor which functions as: a first angle calculating unit that calculates first angle based on the information related to acceleration; an analyzing unit that analyzes a vibration state based on at least one of the information related to the acceleration and the information related to the angular velocity; a second angle calculating unit that calculates a second angle based on the information related to 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 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, wherein the second angle calculating unit: increases a weight of the information related to the angular velocity in a case where vibration state indicates that a vibration is larger than or equal to a predetermined amount compared with a case where the vibration is smaller than the predetermined amount, and decreases a weight of the first angle in a case where the vibration state indicates that the vibration is larger than or equal to the predetermined amount compared with a case where the vibration is smaller than the predetermined amount. ### Claim 43 A control method comprising the steps of: calculating a first angle based on information related to an acceleration detected by a first detector; analyzing a vibration state based n at least one of the information related to the acceleration and information related to an angular velocity detected by a second detector; calculating a second angle based on the information related to 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 performing tilt correction of a horizontal component of an mage pickup apparatus or correction of a tilt component of the image pickup apparatus based on the second angle, wherein the step of calculating the second angle: increases a weight of the information related to the angular velocity in a case where the vibration state indicates that a vibration is larger than or equal to a predetermined amount compared with a case where the vibration is smaller than the predetermined amount, and decreases a weight of the first angle in a case where the vibration state indicates that the vibration is larger than or equal to the predetermined amount compared with a case where the vibration is smaller than the predetermined amount. ### Claim 44 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 ng based on information related to an acceleration detected by a first detector; analyzing a vibration state based on at least one of the information related to the acceleration and information related to an angular velocity detected by a second detector; calculating a second angle based on the information related to 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 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, wherein the step of calculating the second angle: increases a weight of the information related to the angular velocity in a case where the vibration state indicates that a vibration is larger than or equal to a predetermined amount compared with a case where the vibration is smaller than the predetermined amount, and decreases a weight of the first angle in a case where the vibration state indicates that the vibration is larger than or equal to the predetermined amount compared with a case where the vibration smaller than the predetermined amount.