Control device, imaging device, lens device, control method, and storage medium

Abstract

The present invention provides a control device, a imaging device, a lens device, a control method, and a storage medium. The control device includes at least one processor or circuit configured to perform a plurality of tasks, the plurality of tasks including: a first acquisition task configured to acquire information on image shift sensitivity for tilting of the imaging optical system corresponding to an image point position of the imaging optical system, the information including an influence of distortion of the imaging optical system; and a second acquisition task configured to acquire an image stabilization drive amount for image stabilization of an image stabilizer configured to provide image stabilization. The second acquisition task acquires the image stabilization drive amount corresponding to the predetermined image point position using the information on the image shift sensitivity corresponding to the predetermined image point position.

Description

Technical Field

[0001] The present invention relates to a control device, a imaging device, a lens device, a control method, and a program (or storage medium). Background Art

[0002] In a central projection type optical system, when there is camera shake, the movement of image points on the imaging plane is different between the central part (image center) and the periphery (image periphery) of the image. As Figure 18A shown, the movement amount of image points at the image periphery is larger than that of image points at the image center. Therefore, after image stabilization, compared with the image points at the image center, the image points at the image periphery remain more significantly moved, as Figure 18B shown. Japanese Patent Application Laid-Open No. 2018-173632 (hereinafter referred to as "JP 2018-173632") discloses an imaging device that provides image stabilization at the image point position at the image periphery based on the difference between the amount of image blur at the image center caused by the central projection method and the amount of image blur at a predetermined image point position.

[0003] The imaging device disclosed in JP 2018-173632 uses an image height-related expression in an ideal optical system that does not consider the aberration of the central projection method to calculate the correction amount for image stabilization at a predetermined image point position. Therefore, for an actual optical system with residual distortion, if image stabilization is performed based on the correction amount calculated by the above expression, correction residue or overcorrection occurs. In addition, as Figure 18B shown, at an image point position where the image point movement direction has an inclined relationship with the image point movement direction at the image center, the image point moves with a vector different from that of the image center. Therefore, it is difficult to appropriately calculate the correction amount at this image point position only by the above expression.

[0004] JP 2018-173632 also discloses a method of more appropriately providing image stabilization by adding the design value information on the distortion of the optical system stored in the memory to the calculated correction amount, but this method complicates the calculation process. In addition, it is also difficult to calculate the correction amount at an image point position where the image point movement direction has an inclined relationship with the image point movement direction at the image center. Summary of the Invention

[0005] The present invention provides a control device, an imaging device, a lens device, a control method, and a storage medium, each of which can easily and satisfactorily provide image stabilization at a predetermined image point position including the optical axis center.

[0006] A control device according to an aspect of the present invention includes at least one processor or circuit configured to execute a plurality of tasks, the plurality of tasks including: a first acquisition task configured to acquire information on an image shift sensitivity with respect to an inclination of an imaging optical system corresponding to an image point position of the imaging optical system, the information including an influence of distortion of the imaging optical system; and a second acquisition task configured to acquire an image stabilization driving amount for image stabilization of an image stabilizer configured to provide image stabilization. The second acquisition task acquires the image stabilization driving amount corresponding to the predetermined image point position using the information on the image shift sensitivity corresponding to the predetermined image point position.

[0007] An imaging device and a lens device each including the above control device also constitute another aspect of the present invention. A control method corresponding to the above control device and a storage medium storing a program for causing a computer to execute the control method also constitute another aspect of the present invention.

[0008] Other features of the present invention will become clear from the following description of exemplary embodiments with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a schematic configuration diagram of an imaging system according to a first embodiment.

[0010] Figure 2 is a flowchart showing a control method for acquiring an image stabilization driving amount according to a first embodiment.

[0011] Figure 3 shows a relationship between an image height in a moving direction of an image point at an image center and an inclination image shift sensitivity when the imaging optical system according to the first embodiment is inclined.

[0012] Figure 4 illustrates an image point movement at a predetermined image point position with respect to an image point movement at an image center when rotational blur occurs about the Y axis in the first embodiment.

[0013] Figure 5A shows an image point position on an imaging plane, and Figure 5B shows a correction coefficient table having correction coefficient information according to an image point position.

[0014] Figure 6 shows a ratio and a direction of an image point movement amount of a correction residue generated at each image point when image blur at a predetermined image point position is corrected by IIS in the first embodiment.

[0015] Figure 7Shows the relationship between the image height in the direction orthogonal to the moving direction of the image point at the image center and the tilt image shift sensitivity when the imaging optical system according to the second embodiment is tilted.

[0016] Figure 8 Shows the ratio and direction of the image point movement amount of the correction residue generated at each image point when correcting the image blur at the image center by IIS in the second embodiment.

[0017] Figure 9 Is a cross-sectional view of the optical system according to Example 1 at the wide-angle end in the focus state of an object focused at infinity.

[0018] Figure 10 Is an aberration diagram of the optical system according to Example 1 at the wide-angle end in the focus state of an object focused at infinity.

[0019] Figure 11 Is a cross-sectional view of the optical system according to Example 2 at the wide-angle end in the focus state of an object focused at infinity.

[0020] Figure 12 Is an aberration diagram of the optical system according to Example 2 at the wide-angle end in the focus state of an object focused at infinity.

[0021] Figure 13 Is a cross-sectional view of the optical system according to Example 3 at the wide-angle end in the focus state of an object focused at infinity.

[0022] Figure 14 Is an aberration diagram of the optical system according to Example 3 at the wide-angle end in the focus state of an object focused at infinity.

[0023] Figure 15 Is a cross-sectional view of the optical system according to Example 4 at the wide-angle end in the focus state of an object focused at infinity.

[0024] Figure 16 Is an aberration diagram of the optical system according to Example 4 at the wide-angle end in the focus state of an object focused at infinity.

[0025] Figures 17A to 17C Shows the ray tracing of the chief rays of the d-line for each viewing angle incident from the object plane in the optical system according to Example 1.

[0026] Figure 18A Shows the ratio and direction of the image point movement amount at each image point on the subject image when image blur occurs in the X-axis direction at the image center due to rotational blur, and Figure 18B Is shown by an arrow when correcting by the sensor shift type image stabilization mechanism Figure 18AWhen the image at the center of the shown image is blurred, the ratio and direction of the residual image point movement amount of correction generated at each image point. Detailed implementation mode

[0027] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Corresponding elements in each figure will be designated by the same reference numerals, and their repeated description will be omitted.

[0028] In the following description, in a three-dimensional orthogonal coordinate system (X-axis direction, Y-axis direction, and Z-axis direction), the X-axis direction is the long side direction of the imaging plane, the Y-axis direction is the short side direction of the imaging plane, and the Z-axis direction is the optical axis direction of the optical system.

[0029] First embodiment

[0030] Figure 1 is a schematic configuration diagram of the imaging system 1 according to the present embodiment. The imaging system 1 includes a lens device 100 and an imaging device 200. The lens device 100 includes an imaging optical system 101, a lens microcomputer 102, a lens shift type image stabilization (hereinafter referred to as OIS) encoder 103, an OIS driver 104, an OIS actuator 105, and a lens memory (storage unit) 106. The imaging device 200 includes an image sensor (imaging element) 201, a camera microcomputer 202, a display / operation unit 203, and a recording medium 204. The imaging device 200 also includes a gyro sensor 205, an acceleration sensor 206, an image sensor shift type image stabilization (hereinafter referred to as IIS) encoder 208, an IIS driver 209, an IIS actuator 210, and a camera memory (storage section) 211. IIS is image stabilization (IS) performed by moving the image sensor 201. The lens microcomputer 102 and the camera microcomputer 202 can be configured as control devices separate from the lens device 100 and the imaging device 200, respectively.

[0031] The imaging optical system 101 includes a focusing optical system 1011, a zoom (varifocal) optical system 1012, an aperture (aperture stop) 1013, and an OIS optical system 1014. The imaging optical system 101 uses light from a subject at a focusing position within the set viewing angle to form a subject image on the imaging plane of the image sensor 201. The focusing optical system 1011 provides focusing. The zoom optical system 1012 provides zoom (varifocal) to change the imaging viewing angle. The aperture 1013 adjusts the amount of light taken in from the subject. The OIS optical system 1014 provides image stabilization for image blur that occurs during still or moving image shooting by centrifuging itself from the optical axis of the imaging optical system 101. Here, OIS is image stabilization performed by moving the OIS optical system 1014.

[0032] The lens microcomputer 102 controls the OIS optical system 1014. More specifically, the lens microcomputer 102 uses the image stabilization (IS) drive amount from the camera microcomputer 202 and the position signal from the OIS encoder 103 that detects the position of the OIS optical system 1014 to determine the OIS drive amount of the OIS actuator 105. The OIS drive amount is determined not to exceed the movable range of the OIS actuator 105. When the OIS actuator 105 receives the OIS drive amount signal from the OIS driver 104, the OIS actuator 105 moves the OIS optical system 1014 in a direction including a component in a direction orthogonal to the Z-axis direction so as to be eccentric from the optical axis of the imaging optical system 101, thereby providing image stabilization. That is, the OIS actuator 105 serves as one of the image stabilizers that provide image stabilization.

[0033] The lens memory 106 stores the optical design information of the imaging optical system 101. The optical design information includes information on the tilt image shift sensitivity of the imaging optical system 101 for each image height (information on the image shift sensitivity to the tilt of the imaging optical system 101 according to the image point position of the imaging optical system 101). The information on the tilt image shift sensitivity is information obtained by using the design values of the imaging optical system 101 and includes the influence of the distortion of the imaging optical system 101. When the imaging system 1 generates rotational blur such that the X-Y plane orthogonal to the optical axis is tilted with respect to the optical axis, using the information on the tilt image shift sensitivity can provide satisfactory image stabilization at a predetermined image point position of the imaging optical system 101. The camera memory 211 may store the optical design information of the imaging optical system 101, and the optical design information includes the information on the tilt image shift sensitivity. Both the lens memory 106 and the camera memory 211 may store the optical design information of the imaging optical system 101, and the optical design information includes the information on the tilt image shift sensitivity.

[0034] The imaging optical system 101 has a distortion DIST(h) represented by the following expression:

[0035] DIST(h) = (h - h0) / h0

[0036] h0 = ftanω

[0037] where f is the focal length of the imaging optical system 101, ω is the half field of view, h is the distance (true image height) from the optical axis of the imaging optical system 101 to the position on the image plane where the principal ray having the half field of view ω incident from the object plane is imaged, and h0 is the ideal image height of the central projection method.

[0038] Having distortion means that the amount of distortion at any image height within the imaging range is non-zero. An imaging optical system having distortion includes an imaging optical system having a zoom function and a focusing function and having distortion in a specific zoom state or focusing state.

[0039] The image sensor 201 includes a CCD (charge-coupled device) image sensor, a CMOS (complementary metal-oxide semiconductor) image sensor, or other image sensors. The image sensor 201 converts the subject image formed by the imaging optical system 101 on the imaging plane of the image sensor 201 into an electrical signal and outputs the electrical signal as an image signal. The image signal, which is an analog signal, is converted into a digital signal by an A / D converter (not shown) and then output.

[0040] The camera microcomputer 202 controls the entire imaging system 1. For example, the camera microcomputer 202 reads out the image signal as image data from the image sensor 201. The camera microcomputer 202 performs processing such as image processing on the image data based on the optical design information, displays the image data on the display / operation unit 203, and stores the image data in the recording medium 204. The camera microcomputer 202 issues instructions such as focusing, changing the zoom ratio, and adjusting the aperture of the imaging optical system 101 to the lens microcomputer 102. Some settings related to the processing can be changed by operating units (such as the display / operation unit 203 and buttons not shown).

[0041] The camera microcomputer 202 obtains the IS drive amount (image stabilization drive amount for image stabilization of the image stabilizer) according to Figure 2 the following process. Figure 2 FIG. is a flowchart showing a control method for the camera microcomputer 202 to obtain the IS drive amount. In the first acquisition step S1, the camera microcomputer 202 serves as the first acquisition task and obtains information on the image shift sensitivity of the tilt of the imaging optical system 101 according to the image point position of the imaging optical system 101, and this information includes the influence of the distortion of the imaging optical system 101. In the second acquisition step S2, the camera microcomputer 202 serves as the second acquisition task and uses the information on the image shift sensitivity according to a predetermined image point position to obtain the IS drive amount according to the predetermined image point position. The camera microcomputer 202 can calculate the IS drive amount, or can obtain the IS drive amount from a table stored in a server, a memory, etc. In the present embodiment, the camera microcomputer 202 serves as the first acquisition task and the second acquisition task, but the lens microcomputer 102 can also serve as the first acquisition task and the second acquisition task.

[0042] The gyro sensor 205 outputs information on the angular velocity of the imaging system 1 as a motion detection signal. The acceleration sensor 206 outputs information on the amount of movement of the imaging system 1 in the translational direction as a motion detection signal. When the camera microcomputer 202 receives the motion detection signals sent from the respective sensors, it sends the IS drive amount to the IIS control unit 207 in either the lens microcomputer 102 or the camera microcomputer 202 to provide image stabilization for the subject image against the motion of the imaging system 1. In image stabilization, OIS or IIS can be performed, or both OIS and IIS can be performed using a determined share of image stabilization (such as 50% OIS and 50% IIS).

[0043] The IIS control unit 207 controls the image sensor 201. More specifically, the IIS control unit 207 uses the IS drive amount from the camera microcomputer 202 and the position signal from the IIS encoder 208 that detects the position of the image sensor 201 to determine the IIS drive amount of the IIS actuator 210. The IIS drive amount is determined so as not to exceed the movable range of the IIS actuator 210. When the IIS actuator 210 receives the IIS drive amount signal from the IIS driver 209, the IIS actuator 210 moves the image sensor 201 in a direction including a component in a direction perpendicular to the Z-axis direction to decentre it from the optical axis of the imaging optical system 101, and provides image stabilization. That is, the IIS actuator 210 serves as one of the image stabilizers that provides image stabilization.

[0044] The lens device 100 may include a gyro sensor 107 and an acceleration sensor 108. In this case, in OIS, the lens microcomputer 102 uses the IS drive amount obtained using the motion detection signals output from these sensors and the position signal from the OIS encoder 103 to determine the OIS drive amount.

[0045] Now, the processing during image stabilization at a predetermined image point position will be described. When the gyro sensor 205 or the acceleration sensor 206 detects the motion of the imaging system 1, each sensor outputs a motion detection signal (information on blurring) to the camera microcomputer 202. The camera microcomputer 202 uses the information on the tilt image shift sensitivity stored in the lens memory 106, the IS position information on the imaging plane, and the motion detection signal to obtain the IS drive amount. The camera microcomputer 202 sends the obtained IS drive amount to the lens microcomputer 102 or the IIS control unit 207. Obtain the information on the tilt image shift sensitivity

[0046] In the present embodiment, the tilt image shift sensitivity is the amount of image point movement in a direction orthogonal to the rotation axis when the imaging optical system 101 is tilted to a predetermined rotation axis orthogonal to the optical axis of the imaging optical system on the imaging plane.Figure 3 Shows the relationship between the image height in the direction of the image point movement at the image center and the tilt image shift sensitivity (image point movement amount) when the imaging optical system 101 according to the present embodiment is tilted. As Figure 3 shown, when the imaging optical system 101 designed to optically correct aberrations by the central projection method is tilted, the image point movement amount increases as the image height increases. Since the present embodiment utilizes the tilt image shift sensitivity obtained by using the design values of the imaging optical system 101, the present embodiment can obtain the image point movement amounts at respective image heights when rotational blur occurs without performing calculation processing using distortion amounts and image height expressions based on the projection method. The tilt image shift sensitivity according to the present embodiment is a value obtained by dividing the image point movement amount when the imaging optical system 101 is tilted by 0.5° with respect to a predetermined rotation axis by 0.5°. The tilt angle of the imaging optical system 101 is not limited to 0.5° and can be set appropriately.

[0047] Figure 4 Illustrates the image point movement at a predetermined image point position with respect to the image point movement at the image center when rotational blur occurs about the Y-axis, and schematically shows a state in which a stationary (non-blurred) subject image 301 is distorted into a trapezoidal subject image 302 due to image blur. In a wide-angle lens that optically corrects distortion by the central projection method, when rotational blur occurs, the trapezoidal distortion such as the subject image 302 degrades. Image blur occurs when each image point on the imaging plane moves according to the image point movement vector indicated by the arrow.

[0048] Now, the image point movement amount t in the +X-axis direction at the central position O on the imaging plane will be described x0 and the image point movement amount t at a predetermined image point position A x , where the central position O is the image center when the rotational blur amount ω y about the Y-axis occurs.

[0049] The image point movement amount t x0 is represented by the following expression (1):

[0050] t x0 = ω y ·LS (1)

[0051] where LS is the tilt image shift sensitivity at an image height of 0.

[0052] Assume that the imaging plane (X-Y plane) is in a polar coordinate system (R-Θ coordinate system) with the central position O as the origin, and (r, θ) are the coordinates of the predetermined image point position A. That is, in the present embodiment, the predetermined image point position A is a position on the imaging plane represented by a plurality of parameters. Figure 3 The image height on the horizontal axis inFigure 4 Image height h in the R direction in the polar coordinate system shown r With respect to the tilt image shift sensitivity LS, at the image height h r Tilt image shift sensitivity coefficient k LS_r (h r ) is represented by the following expression (2):

[0053] k LS_r (h r ) = LS r (h r ) / LS (2)

[0054] Where LS r (h r ) is the tilt image shift sensitivity at the image height h r .

[0055] Image point movement amount t x0 Using the parallel component t parallel to the straight line OA rx0 And the perpendicular component t perpendicular to the straight line OA θx0 Is represented by the following expressions (3) to (5):

[0056] t rx0 = t x0 · cosθ = ω y · LS · cosθ (3)

[0057] t θx0 = t x0 · (-sinθ) = -ω y · LS · sinθ (4)

[0058] |t x0 | = (t rx0 2 + t θx0 2 ) 1 / 2 (5)

[0059] The parallel component t rx0 Is positive in the direction (R direction) of separation from the center position O, and the perpendicular component t θx0 Is positive in the direction (θ direction) orthogonal to the R direction and counterclockwise around the center position O. The R direction and the θ direction are also called the meridional direction and the sagittal direction, respectively.

[0060] Next, consider the image point movement amount t x At the predetermined image point position A. rx The parallel component t parallel to the straight line OA r Is affected by the tilt image shift sensitivity LS at the image height r(r) Influence, and the vertical component t perpendicular to the straight line OA θx Affected by the tilt image shift sensitivity LS at the image height of 0. According to the above, the image point movement amount t x Use the parallel component t rx And the vertical component t θx Are represented by the following expressions (6) to (8):

[0061] t rx = k LS_r (r)·t rx0 = k LS_r (r)·ω y ·LS·cosθ (6)

[0062] t θx = k LS_r (0)·t θx0 = -ω y ·LS·sinθ (7)

[0063] |t x | = (t rx 2 + t θx 2 ) 1 / 2 (8)

[0064] In this way, the image point movement amount t at the predetermined image point position A when the rotation blur amount ω occurs around the Y-axis y can be calculated. Similarly, using the parallel component t parallel to the straight line OA x and the vertical component t perpendicular to the straight line OA ry , the image point movement amount t at the predetermined image point position A in the polar coordinate system when the rotation blur amount ω occurs around the X-axis θy is represented by the following expressions (9) to (11): x : y

[0065] t ry = k LS_r (r)·t ry0 = k LS_r (r)·ω x ·LS·sinθ (9)

[0066] t θy = k LS_r (0)·t θy0 = ω x ·LS·cosθ (10)

[0067] |t y | = (t ry 2 + t θy2 ) 1 / 2 (11)

[0068] As described above, the parallel component t parallel to the straight line OA can be used r and the perpendicular component t perpendicular to the straight line OA θ , and the image point displacement amount t at the predetermined image point position A when a rotational blur amount (ω x , ω y ) occurs around a predetermined rotation axis orthogonal to the optical axis on the imaging plane is represented by the following expressions (12) to (14).

[0069] t r = t rx + t ry = k LS_r (r)·LS(ω y ·cosθ + ω x ·sinθ) = K1(r,θ)·ω y + K2(r,θ)·ω x (12)

[0070] t θ = t θx + t θy = LS(-ω y ·sinθ + ω x ·cosθ) = K3(r,θ)·ω y + K4(r,θ)·ω x (13)

[0071] |t| = (t r 2 + t θ 2 ) 1 / 2 (14)

[0072] The coefficients (K1, K2, K3, K4) in the expressions (12) and (13) are given as follows:

[0073] K1(r,θ) = k LS_r (r)·LS·cosθ

[0074] K2(r,θ) = k LS_r (r)·LS·sinθ

[0075] K3(r,θ) = -LS·sinθ

[0076] K4(r,θ) = LS·cosθ

[0077] As shown in Expressions (12) to (14), the image point movement amount t includes correction coefficient information (K1, K2, K3, K4) and rotational blur amounts (ω x , ω y ). The correction coefficient information (K1, K2, K3, K4) includes the tilt image shift sensitivity and position information (r, θ) at the image point position. In this embodiment, the lens memory 106 pre-stores a correction coefficient table of the correction coefficient information (K1, K2, K3, K4) in a matrix format defined by the image point positions shown by Figure 5A and Figure 5B as information on the tilt image shift sensitivity. This configuration can easily obtain the image point movement amount t at a predetermined image point position A when rotational blur amounts (ω x , ω y ) occur. The interval between adjacent image point positions in the correction coefficient table is set appropriately. The correction coefficient table can be managed not in a polar coordinate system but in a rectangular coordinate system.

[0078] The information on the tilt image shift sensitivity can include the tilt image shift sensitivity for each image height to reduce the information stored in the lens memory 106, or the position information of a predetermined image point position that is an object of image stabilization can be used to provide the image point movement amount t. The position information of the image point position can be information in a polar coordinate system or information in a predetermined coordinate system (such as a rectangular coordinate system).

[0079] Setting of image stabilization position information on the imaging plane

[0080] This embodiment can switch the setting mode of the imaging system 1 to the image center IS mode or the IS point setting mode. In the image center IS mode, a predetermined image point position (image stabilization position) that is an object of image stabilization is set as the center of the imaging plane. In the IS point setting mode, the image stabilization point can be set as a predetermined image point position. When the IS point setting mode is set, the image stabilization position can be set on the display / operation unit 203. The position that can be set on the display / operation unit 203 can be associated with the image point position for performing autofocus or the image point position for performing automatic photometry (light measurement). The image point position for performing autofocus can be a position automatically detected by pupil detection, person detection, etc. The IS position information (r, θ) on the imaging plane is sent to the camera microcomputer 202, and the correction coefficient information to be used is selected from the correction coefficient table.

[0081] Motion detection signal

[0082] The gyro sensor 205 detects the angular velocity about a plurality of rotation axes of the imaging system 1 and outputs information on the rotational blur amount as a motion detection signal. In this embodiment, the gyro sensor 205 detects the angular velocity about the X-axis and the Y-axis and outputs rotational blur amounts (ωx , ω y ) information. The acceleration sensor 206 detects accelerations in multiple axes of the imaging system 1 and outputs information on the translational blur amount as a motion detection signal. In this embodiment, the acceleration sensor 206 detects accelerations in the X-axis direction and the Y-axis direction and outputs information on the translational blur amount (a x , a y ). The gyro sensor 205 may include multiple sensors, each of which detects the angular velocity around a single axis. Similarly, the acceleration sensor 206 may include multiple sensors, each of which detects the acceleration in a single direction.

[0083] Obtain the image stabilization drive amount

[0084] The camera microcomputer 202 uses the information on the tilt image shift sensitivity, the IS position information, and the motion detection signal to obtain the IS drive amount. For example, in the case of correcting the image blur at a predetermined image point position A due to rotational blur by IIS, the image sensor 201 can be moved to eliminate the image point movement amount t. The IS drive amount x in the X-axis direction and the IS drive amount y in the Y-axis direction of the IIS actuator 210 are represented by the following expressions (15) and (16):

[0085] x = t r · cosθ - t θ · sinθ = ω y {sin 2 θ + k LS_r (r) · cos 2 θ}LS + ω x {k LS_r (r) - 1}LS · sinθ · cosθ

[0086] = K'1(r, θ) · ω y + K'2(r, θ) · ω x (15)

[0087] y = t r · sinθ + t θ · cosθ = ω y {k LS_r (r) - 1}LS · sinθ • cosθ + ω x {k LS_r (r) • sin 2 θ + cos 2 θ}LS

[0088] = K'3(r, θ) · ω y + K'4(r, θ) · ω x (16)

[0089] The coefficients (K'1, K'2, K'3, K'4) in Expressions (15) and (16) are given as follows:

[0090] K'1(r,θ) = {sin 2 θ + k LS_r (r) • cos 2 θ}LS

[0091] K'2(r,θ) = {k LS_r (r) - 1}LS · sinθ · cosθ

[0092] K'3(r,θ) = {k LS_r (r) - 1}LS · sinθ · cosθ

[0093] K'4(r,θ) = {k LS_r (r) • sin 2 θ + cos 2 θ}LS

[0094] Figure 6 Shows the ratio and direction of the residual image point movement amount generated at each image point when correcting image blur at a predetermined image point position A in the first embodiment by IIS. As Figure 6 shown, when allowing image blur at the image center, the image blur at the set predetermined image point position A is satisfactorily corrected. Since image point movement with the same motion vector as that at the image point position A occurs at the image point position A' that is point-symmetric to the image point position A with respect to the image center as the origin, the image blur at the image point position A' is also corrected. Therefore, by appropriately setting the image stabilization position to a predetermined position outside the optical axis so that the image blur at the image center does not cause a sense of incongruity, the distribution of the image blur amount in the entire image can be maintained at a low level, and the image blur of the entire image can be reduced.

[0095] As shown in Expressions (15) and (16), the IS driving amounts (x, y) include correction coefficient information (K'1, K'2, K'3, K'4) and rotational blur amounts (ω x , ω y ). Therefore, a correction coefficient table of the correction coefficient information (K'1, K'2, K'3, K'4) in matrix format can be stored in the lens memory 106 as information on the tilt image shift sensitivity. By using K'1, etc. instead of the above correction coefficient information (K1, K2, K3, K4), the IS driving amount (x) at the predetermined image point position A when the rotational blur amounts (ω x , ω y ) occur can be easily obtained.

[0096] In the case of OIS, the OIS eccentricity (centrifugal) sensitivity TS(h) of each image height of the OIS optical system 1014 increases as the image height becomes higher, so that the IS driving amount can be obtained based on the OIS eccentricity sensitivity TS(h). Therefore, image stabilization can be performed with high precision.

[0097] Regarding the image blur caused by translational blur, the information on the amount of translational blur from the acceleration sensor 206 can be used to obtain the IS driving amount. The translational blur amount (a x , a y ) can be converted into a rotational blur amount (ω x , ω y ) by using the focus object distance information to obtain the IS driving amount for translational blur. In the case where rotational blur and translational blur occur simultaneously, the IS driving amount can be obtained by adding the IS driving amount for translational blur and the IS driving amount for rotational blur. The IS driving amount for translational blur at a predetermined image point position can be obtained by multiplying the converted rotational blur amount by the correction coefficient included in the information on the tilt image shift sensitivity.

[0098] In the case where the focus position is close to the near-end, the translational component of the object plane generated by rotational blur becomes larger. The IS driving amount for the image blur caused by the translational component according to the object distance can be obtained by the above method.

[0099] The tilt image shift sensitivity changes according to the object distance and focal length (imaging angle of view) at which the imaging optical system 101 is focused. In the present embodiment, the lens memory 106 stores a plurality of correction coefficient tables that are different according to the focus position determined by the focusing optical system 1011 and the focal length determined by the zoom optical system 1012. Thus, even during zooming (zooming) or focusing, image stabilization can be satisfactorily provided at a predetermined image point position.

[0100] The lens device 100 can be detachably attached to the imaging device 200. In this case, the information on the appropriate tilt image shift sensitivity can be used for each lens device 100. Therefore, even when different lens devices 100 are attached to and used with the imaging device 200, the image blur at a predetermined image point position can be satisfactorily corrected.

[0101] Second Embodiment

[0102] Compared with the first embodiment, the information on the tilt image shift sensitivity is more widely extended in this embodiment. Since the configuration of the imaging system 1 and the processing in image stabilization in this embodiment are the same as those in the first embodiment, the detailed description thereof will be omitted.

[0103] In this embodiment, the amount of distortion in which the subject image of the imaging optical system 101 is distorted into a barrel shape is larger than that in the first embodiment. In an imaging optical system with a small amount of distortion, when the imaging optical system is tilted, the amount of image point movement at any image point position in the direction orthogonal to the direction of image point movement at the image center is almost similar to the amount of image point movement at the image center. On the other hand, the imaging optical system 101 according to this embodiment has a large amount of distortion. Thus, when the imaging optical system 101 is tilted, the amount of image point movement in the direction orthogonal to the direction of image point movement at the image center decreases as the position moves away from the image center. Therefore, in this embodiment, the lens memory 106 stores information on the significant tilt image shift sensitivity for the amount of image point movement in the direction orthogonal to the direction of image point movement at the image center caused by rotational blur.

[0104] Figure 7 FIG. shows the relationship between the image height in the direction orthogonal to the direction of image point movement at the image center and the tilt image shift sensitivity (amount of image point movement) when the imaging optical system 101 according to this embodiment is tilted. Figure 8 FIG. shows the ratio and direction of the amount of image point movement of the correction residue generated at each image point when correcting the image blur at the image center according to the second embodiment by IIS. In Figure 7 the horizontal axis shown, the image height in the direction orthogonal to the direction of image point movement at the center position O on the imaging plane is the image height in the direction orthogonal to the R direction in the polar coordinate system. As Figure 7 shown, in this embodiment, when the imaging optical system 101 with a large amount of distortion is tilted, the image height h θ at the tilt image shift sensitivity LS θ (h θ ) is smaller than the tilt image shift sensitivity LS at the image center. Therefore, if image stabilization is provided at an image point position with a higher image height in the case of obtaining the IS drive amount using the tilt image shift sensitivity LS at the image center, overcorrection occurs as Figure 8 shown.

[0105] Therefore, this embodiment adds the tilt image shift sensitivity to the information described in the first embodiment, and creates information including the influence of the amount of image point movement at each image height in the direction parallel to the rotation axis when the imaging optical system 101 is tilted. The tilt image shift sensitivity coefficient k θ at the image height h LS_θ (h θ ) with respect to the tilt image shift sensitivity LS at the image center is represented by the following expression (17):

[0106] k LS_θ (h θ ) = LSθ (h θ ) / LS (17)

[0107] When a rotational blur amount (ω x , ω y ) occurs, the parallel component t r parallel to the straight line OA and the perpendicular component t θ perpendicular to the straight line OA of the image point movement amount t at a predetermined image point position A are respectively represented by the following expressions (12a) and (13a):

[0108] t r = t rx + t ry = k LS_r (r)·k LS_θ (0)·LS(ω y ·cosθ + ω x •sinθ) = K1(r,θ)·ω y + K2(r,θ)·ω x (12a)

[0109] t θ = t θx + t θy = k LS_r (0)·k LS_θ (r)·LS(-ω y sinθ + ω x cosθ) = K3(r,θ)·ω y + K4(r,θ)·ω x (13a)

[0110] The coefficients (K1, K2, K3, K4) in the expressions (12a) and (13a) are given as follows:

[0111] K1(r,θ) = k LS_r (r)·k LS_θ (0)•LS·cosθ

[0112] K2(r,θ) = k LS_r (r)·k LS_θ (0)·LS·sinθ

[0113] K3(r,θ) = -k LS_r (0)·k LS_θ (r)·LS·sinθ

[0114] K4(r,θ) = k LS_r (0)·k LS_θ (r)·LS·cosθ

[0115] The IS drive amounts x in the X-axis direction and y in the Y-axis direction of the IIS actuator 210 are represented by the following expressions (15a) and (16a):

[0116] x = t r ·cosθ - t θ ·sinθ

[0117] = ω y {k LS_θ (r)·sin 2 θ + k LS_r (r)·cos 2 θ}LS + ω x {k LS_r (r) - k LS_θ (r)}LS·sinθ·cosθ

[0118] = K'1(r,θ)·ω y + K'2(r,θ)·ω x (15a)

[0119] y = t r ·sinθ + t θ ·cosθ

[0120] = ω y {k LS_r (r) - k LS_θ (r)}LS·sinθ·cosθ + ω x {k LS_r (r)•sin 2 θ + k LS_θ (r)•cos 2 θ}LS

[0121] = K'3(r,θ)•ω y + K'4(r,θ)·ω x (16a)

[0122] The coefficients (K'1, K'2, K'3, K'4) in the expressions (15a) and (16a) are given as follows:

[0123] K'1(r,θ) = {k LS_θ (r)·sin 2 θ + k LS_r (r)·cos 2 θ}LS

[0124] K'2(r,θ) = {k LS_r (r) - k LS_θ (r)}LS•sinθ·cosθ

[0125] K'3(r, θ) = {k LS_r (r) - k LS_θ (r)}LS·sinθ·cosθ

[0126] K'4(r, θ) = {k LS_r (r)·sin 2 θ + k LS_θ (r)cos 2 θ}LS

[0127] As described above, in this embodiment, the IS driving amount is obtained based on the tilt image shift sensitivity of each image height in the direction parallel to the rotation axis and the direction perpendicular to the rotation axis. Thus, even when the imaging optical system 101 with a large amount of distortion is used in the imaging system 1, image stabilization can be satisfactorily provided at a predetermined image point position.

[0128] An optical system designed by a fish-eye lens projection method (such as an equidistant projection method and an equal solid angle projection method) also has a significant tilt image shift sensitivity characteristic with respect to the amount of image point movement in the θ direction. Therefore, the IS driving amount can be obtained based on the tilt image shift sensitivity of each image height in the R direction and the θ direction.

[0129] When ensuring a large image stabilization angle as a specification of the image stabilization mechanism, the IS driving amount can be determined based on the tilt image shift sensitivity according to this embodiment.

[0130] Example

[0131] Now, an example of the imaging optical system 101 according to the present invention will be described with reference to the accompanying drawings.

[0132] Figure 9 、 Figure 11 and Figure 13 are cross-sectional views of the optical systems L0 at the wide-angle end according to Examples 1 to 3 in a focused state for an object at infinity. The arrows shown in each cross-sectional view indicate the movement trajectories of the respective lens units during zooming from the wide-angle end to the telephoto end. Figure 15 is a cross-sectional view of the optical system L0 according to Example 4 in a focused state for an object at infinity. Figure 15 The arrow shown in indicates the movement trajectory of the lens unit during focusing from infinity to the close-up end (or the proximal end). The optical systems L0 according to the respective examples are used in imaging devices such as digital video cameras, digital still cameras, broadcast cameras, surveillance cameras, and smartphone cameras.

[0133] In each cross-sectional view, the left side is the object side and the right side is the image side. The optical system L0 according to each example includes a plurality of lens units. As used herein, a lens unit is a group of lenses that moves as a whole or remains stationary during zooming, focusing, or image stabilization. That is, in the optical system L0 according to each example, the distance between adjacent lens units changes during zooming or focusing. The lens unit may include one or more lenses. The lens unit may include an aperture stop.

[0134] SP denotes an aperture. IP denotes an image plane on which an imaging plane of an image sensor (photoelectric conversion element) such as a CCD sensor or a CMOS sensor is disposed. The OIS optical system is eccentric to the optical axis of the optical system L0 during OIS.

[0135] The projection method of the optical system L0 according to Examples 1, 2, and 4 is a central projection method (Y=ftanθ). The projection method of the optical system L0 according to Example 3 is an equisolid angle projection method (Y=2·f·sin(θ / 2)).

[0136] Figure 10 , Figure 12 and Figure 14 They are aberration diagrams of the optical system L0 according to Examples 1 to 3 at the wide angle end in a focused state focused on an object at infinity, respectively. Figure 16 1 and 2 are aberration diagrams of the optical system L0 according to Example 4 in a focused state focused on an object at infinity.

[0137] In the spherical aberration diagram, Fno represents the F number and indicates the spherical aberration amount of the d-line (wavelength 587.6nm) and the g-line (wavelength 435.8nm). In the astigmatism diagram, S represents the astigmatism amount in the sagittal image plane, and M represents the astigmatism amount in the meridional image plane. The distortion diagram shows the distortion amount of the d-line. The chromatic aberration diagram shows the lateral chromatic aberration of the g-line. ω represents the imaging half angle of view (°).

[0138] Numerical Examples 1 to 4 corresponding to Examples 1 to 4, respectively, will be shown below.

[0139] In the surface data of each numerical example, r represents the radius of curvature of each optical surface, and d (mm) represents the on-axis distance (distance on the optical axis) between the mth surface and the (m+1)th surface, where m is the surface number counted from the light incident surface. nd represents the refractive index of each optical member for the d-line, and νd represents the Abbe number of the optical member. The Abbe number νd of a specific material is expressed as follows:

[0140] νd=(Nd-1) / (NF-NC)

[0141] Here, Nd, NF, and NC are the refractive indices of the d-line (wavelength 587.6 nm), F-line (wavelength 486.1 nm), and C-line (wavelength 656.3 nm) in the Fraunhofer lines.

[0142] In each numerical example, all values of d, focal length (mm), F-number, and half field angle (°) are values when the optical system L0 according to each example is focused on an object at infinity (infinity object). The back focal length (BF) is the distance on the optical axis from the last surface of the lens (the lens surface closest to the image plane) to the paraxial image plane in terms of the air conversion length. The total optical length is the length obtained by adding the back focal length to the distance on the optical axis from the frontmost surface of the lens (the lens surface closest to the object) to the last surface of the lens.

[0143] When the optical surface is an aspherical surface, an asterisk * is added to the right side of the surface number. The aspherical shape is expressed as follows:

[0144] X = (h 2 / R) / [1 + {1 - (1 + k)(h / R) 2} 1 / 2 + A4×h 4 + A6×h 6 + A8×h 8 + A10×h 10 + A12×h 12

[0145] where X is the displacement amount from the surface vertex in the optical axis direction, h is the height from the optical axis in the direction perpendicular to the optical axis, R is the paraxial curvature radius, k is the conic constant, and A4, A6, A8, A10, and A12 are the aspherical coefficients of each order. "e±XX" in each aspherical coefficient means "×10 ±XX ".

[0146] In each numerical example, the tilt image shift sensitivity data and the eccentricity sensitivity data of the eccentricity of the OIS optical system are shown. The method for obtaining these data will be described with reference to Figures 17A to 17C these data.

[0147] Figures 17A to 17C is the ray tracing diagram of the principal rays of the d-line corresponding to each viewing angle incident from the object plane in the optical system L0 of Example 1 (the principal ray with a half field angle of 0 and the principal ray with a half field angle of ω). Figures 17A to 17C shows the tilt state of the tilt angle ω x about the X-axis with the intersection point between the image plane IP and the optical axis as the center and the stationary optical system L0 in the eccentric state where the OIS optical system is eccentric by an eccentricity amount y in the Y-axis direction.

[0148] The tilt image shift sensitivity of each image height in the tilt direction (R direction) can be obtained by dividing the image point movement amount Δy LSr (h r ) by the tilt angle ω x . Δy LSr (h r ) is Figure 17A the difference in the imaging positions on the image plane IP corresponding to each half viewing angle between Figure 17B . By using the image point movement amount Δy θ of each image height h LSθ in the X-axis direction, the tilt image shift sensitivity of each image height in the direction orthogonal to the tilt direction is obtained. The tilt image shift sensitivity according to each example is obtained based on the image point movement amount when the optical system L0 is tilted by 0.5°. In Figure 17B , the tilt angle ω x is positive in the counterclockwise direction and negative in the clockwise direction. The image point movement amount Δy is positive in the upward direction and negative in the downward direction.

[0149] The OIS optical system eccentricity sensitivity of each image height in the eccentricity direction (R direction) is obtained by dividing the image point movement amount Δy TSr (h r ) by the eccentricity y of the OIS optical system. Δy TSr (h r ) is Figure 17A the difference in the imaging positions on the image plane IP corresponding to each half viewing angle between Figure 17C . In each example, by using the image point movement amount Δy θ of each image height h TSθ in the X-axis direction, the OIS optical system eccentricity sensitivity of each image height in the direction orthogonal to the eccentricity direction is obtained. Based on the image point movement amount when the OIS optical system has an eccentricity of 0.1 mm, the OIS optical system eccentricity sensitivity data for each example is obtained.

[0150] [Numerical Example 1]

[0151] Unit: mm

[0152] Surface data

[0153]

[0154]

[0155] Aspherical data

[0156] The 12th surface

[0157] K = 0.00000e+000 A4 = -5.69442e-006 A6 = -2.29053e-009

[0158] A8 = -4.72363e-011 A10 = 4.65343e-013 A12 = -1.99227e-015

[0159] The 22nd surface

[0160] K = 0.00000e+000 A4 = 1.87606e-006 A6 = 1.45872e-009

[0161] A8 = 2.78338e-011 A10 = -2.10980e-013 A12 = 3.98590e-016

[0162] The 30th surface

[0163] K = 0.00000e+000 A4 = -2.01869e-005 A6 = 6.17344e-008

[0164] A8 = -2.64177e-010 A10 = -2.98832e-013 A12 = 2.64092e-015

[0165] The 31st surface

[0166] K = 0.00000e+000 A4 = 1.63774e-006 A6 = 9.32838e-008

[0167] A8 = -2.34772e-010 A10 = -7.39973e-013 A12 = 4.51086e-015

[0168] The 34th surface

[0169] K = 0.00000e+000 A4 = -2.51719e-005 A6 = 1.25180e-007

[0170] A8 = -5.32709e-010 A10 = 5.08044e-013 A12 = 7.30860e-016

[0171] The 35th surface

[0172] K = 0.00000e+000 A4 = -2.60571e-005 A6 = 1.26402e-007

[0173] A8 = -6.23562e-010 A10 = 1.45147e-012 A12 = -1.39940e-015

[0174] Various data

[0175]

[0176]

[0177] Sensitivity data of the tilt image shift at each image height at the wide-angle end in the tilt direction

[0178]

[0179] Sensitivity data of the tilt image shift at each image height at the wide-angle end in the direction orthogonal to the tilt direction

[0180]

[0181] Sensitivity data of the eccentricity at each image height in the eccentricity direction of the OIS optical system relative to the wide-angle end

[0182]

[0183] Sensitivity data of the eccentricity at each image height in the direction orthogonal to the eccentricity direction of the OIS optical system relative to the wide-angle end

[0184]

[0185] [Numerical example 2]

[0186] Unit: mm

[0187] Surface data

[0188]

[0189]

[0190] Aspherical data

[0191] The first surface

[0192] K = 0.00000e+000 A4 = 8.30213e-006 A6 = -1.33976e-008

[0193] A8 = 4.25008e-011 A10 = -8.60253e-014 A12 = 1.03363e-016

[0194] The second surface

[0195] K = -9.81344e-001 A4 = 4.49709e-007 A6 = -2.34544e-008

[0196] A8 = -1.05516e-010 A10 = 8.07443e-013 A12 = -2.78552e-015

[0197] The 3rd surface

[0198] K = 0.00000e+000 4 = -9.01759e-006 A6 = -1.39642e-007

[0199] A8 = 1.23272e-009 A10 = -3.49283e-012 A12 = 3.62808e-015

[0200] The 4th surface

[0201] K = 0.00000e+000 A4 = 6.34981e-006 A6 = -1.29871e-007

[0202] A8 = 1.67920e-009 A10 = -6.48374e-012 A12 = 1.50043e-014

[0203] The 27th surface

[0204] K = 0.00000e+000 A4 = -8.04129e-005 A6 = 2.64851e-007

[0205] A8 = -1.06038e-009 A10 = 4.87911e-012 A12 = -8.56493e-015

[0206] The 28th surface

[0207] K = 0.00000e+000 A4 = -6.00659e-005 A6 = 2.67376e-007

[0208] A8 = -7.05021e-010 A10 = 2.04492e-012 A12 = -2.97985e-015

[0209] Various data

[0210]

[0211]

[0212] Sensitivity data of the tilt image shift at each image height at the wide-angle end in the tilt direction

[0213]

[0214] Sensitivity data of the tilt image shift at each image height at the wide-angle end in the direction orthogonal to the tilt direction

[0215]

[0216] Sensitivity of the eccentricity at each image height in the eccentricity direction of the OIS optical system with respect to the eccentricity of the wide-angle end

[0217] data

[0218]

[0219] Sensitivity data of the eccentricity at each image height in the direction orthogonal to the eccentricity direction of the OIS optical system with respect to the eccentricity of the wide-angle end

[0220]

[0221] [Numerical Example 3]

[0222] Unit: mm

[0223] Surface data

[0224]

[0225]

[0226] Various data

[0227]

[0228] Sensitivity data of the tilt image shift at each image height at the wide-angle end in the tilt direction

[0229]

[0230] Sensitivity data of the tilt image shift at each image height at the wide-angle end in the direction orthogonal to the tilt direction

[0231]

[0232] [Numerical Example 4]

[0233] Unit: mm

[0234] Surface data

[0235]

[0236] Aspherical data

[0237] 15th surface

[0238] K = 0.00000e+000 A4 = 2.14904e-005 A6 = -6.26885e-009

[0239] A8 = 3.11936e-010 A10 = -1.96590e-012 A12 = 3.25155e-015

[0240] Various data

[0241]

[0242] Data of the tilt image shift sensitivity of each image height in the focus state at infinity in the tilt direction

[0243]

[0244] Data of the tilt image shift sensitivity of each image height in the focus state at infinity in the direction orthogonal to the tilt direction

[0245]

[0246] Data of the eccentricity sensitivity of each image height in the eccentricity direction with respect to the eccentricity of the OIS optical system in the focus state at infinity

[0247]

[0248] Data of the eccentricity sensitivity of each image height in the direction orthogonal to the eccentricity direction with respect to the eccentricity of the OIS optical system in the focus state at infinity

[0249]

[0250] As described above, according to the configuration of the present invention, image stabilization can be easily and satisfactorily provided at a predetermined image point position including the optical axis center.

[0251] Each embodiment expresses the information of the tilt image shift sensitivity of the imaging optical system 101 with respect to the image point position as correction coefficient information in a matrix format defined by the image point position in a correction coefficient table, but the present invention is not limited to this embodiment. It may be the tilt image shift sensitivity LS r (h r ) or LS θ (h θ ), or off-axis correction coefficient information obtained from the tilt image shift sensitivity. That is, the information of the image shift sensitivity may be information capable of providing the amount of movement of a predetermined image point position with respect to the tilt of the imaging optical system 101.

[0252] Each embodiment has described the tilt image shift sensitivity as information for each image height in the direction (R direction) orthogonal to the tilt rotation axis of the imaging optical system 101 and in the direction parallel to the tilt rotation axis. However, the tilt image shift sensitivity may be information determined for each image point position on the entire imaging plane for a predetermined tilt direction. In this case, the tilt image shift sensitivity may be directly obtained based on the amount of image point movement on the entire imaging plane obtained using the design values of the imaging optical system 101.

[0253] Each numerical example may use the imaging position of the chief ray to obtain the image point position, but the peak position of the MTF (modulation transfer function) may be used to obtain the image point position.

[0254] The camera microcomputer 202 may perform image stabilization using the electronic image stabilization function that changes the effective pixel region of the image sensor 201. That is, the camera microcomputer 202 may function as one of the image stabilizers.

[0255] Other embodiments

[0256] Embodiments of the present invention may also be implemented by a computer of a system or apparatus that reads and executes computer-executable instructions (e.g., one or more programs) recorded on a storage medium (which may also be more fully referred to as a "non-transitory computer-readable storage medium") to perform the functions of one or more of the above-described embodiments and / or includes one or more circuits (e.g., an application specific integrated circuit (ASIC)) for performing the functions of one or more of the above-described embodiments, and the embodiments of the present invention may be implemented by a method of, for example, reading and executing the computer-executable instructions from the storage medium by the computer of the system or apparatus to perform the functions of one or more of the above-described embodiments and / or controlling the one or more circuits to perform the functions of one or more of the above-described embodiments. The computer may include one or more processors (e.g., a central processing unit (CPU), a microprocessing unit (MPU)), and may include a network of separate computers or separate processors to read and execute the computer-executable instructions. The computer-executable instructions may be provided to the computer, for example, from a network or the storage medium. The storage medium may include, for example, one or more of a hard disk, a random access memory (RAM), a read-only memory (ROM), a memory of a distributed computing system, an optical disc (such as a compact disc (CD), a digital versatile disc (DVD), or a Blu-ray disc (BD) TM )、a flash device, and a memory card, etc.

[0257] The embodiments of the present invention may also be implemented by providing software (program) for performing the functions of the above-described embodiments to a system or device via a network or various storage media, and a computer or a central processing unit (CPU) or a microprocessing unit (MPU) of the system or device reads and executes the program.

[0258] The above-described embodiments can provide a control device, a camera device, a lens device, a control method, and a storage medium, each of which can easily and satisfactorily provide image stabilization for a predetermined image point position including the center of the optical axis.

[0259] While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. A control device, comprising at least one processor or circuit configured to perform a plurality of tasks, the plurality of tasks including: A first acquisition task configured to acquire information on the image shift sensitivity for tilting of the imaging optical system corresponding to the image point position of the imaging optical system, the information including the influence of the distortion of the imaging optical system; And A second acquisition task configured to acquire an image stabilization drive amount for image stabilization of an image stabilizer configured to provide image stabilization, Characterized in that the second acquisition task acquires the image stabilization drive amount corresponding to the predetermined image point position using the information on the image shift sensitivity corresponding to the predetermined image point position, and the first acquisition task also acquires the information on the image shift sensitivity from a memory storing the information on the image shift sensitivity as information determined for each position on the image plane.

2. The control device according to claim 1, characterized in that, The information on the image shift sensitivity is acquired by using the design values of the imaging optical system.

3. The control device according to claim 1, characterized in that, The information on the image shift sensitivity is information capable of providing the amount of movement of the predetermined image point position for tilting of the imaging optical system.

4. The control device according to claim 1, characterized in that The image stabilization drive amount is acquired by using the information on blur and the information on the image shift sensitivity.

5. The control device according to claim 1, wherein The image stabilization drive amount is acquired by using the information on blur, the information on the predetermined image point position, and the information on the image shift sensitivity.

6. The control device according to claim 4, characterized in that The information on blur includes information on the angular velocity about a plurality of rotation axes.

7. The control device according to claim 4, characterized in that The information on blur includes information on the acceleration in a plurality of axial directions.

8. The control device according to claim 1, characterized in that The predetermined image point position is a position on the image plane represented by a plurality of parameters.

9. The control device according to claim 1, characterized in that The information on the image shift sensitivity varies according to the focal length of the imaging optical system.

10. The control device according to claim 1, wherein, The information on the image shift sensitivity varies according to the object distance to be focused.

11. The control device according to claim 1, characterized in that The image stabilizer offsets the image sensor from the optical axis of the imaging optical system.

12. The control device according to claim 1, characterized in that, The image stabilizer changes the effective pixel region in the image sensor.

13. The control device according to claim 1, wherein, The image stabilizer offsets at least a part of the imaging optical system from the optical axis of the imaging optical system.

14. An imaging device, comprising: An image sensor; And The control device according to any one of claims 1 to 13.

15. A lens device, comprising: An imaging optical system; And The control device according to any one of claims 1 to 13.

16. A control method configured to acquire an image stabilization drive amount for image stabilization of an image stabilizer configured to provide image stabilization, the control method including: A first acquisition step of acquiring information on the image shift sensitivity for tilting of the imaging optical system corresponding to the image point position of the imaging optical system, the information including the influence of the distortion of the imaging optical system; And A second acquisition step, using the information of the image shift sensitivity corresponding to a predetermined image point position, acquires an image stabilization driving amount of the image stabilizer corresponding to the predetermined image point position, and the first acquisition step further acquires the information of the image shift sensitivity from a memory storing the information of the image shift sensitivity, as information determined for each position on the image plane.

17. A storage medium storing a program for causing a computer to execute the control method according to claim 16.

Images