IMAGE ACTING DEVICE, METHOD FOR CONTROLLING IT, AND STORAGE MEDIUM

Abstract

Image recording device, with a shake detection device that can be operated to detect shake of the image recording device, an image stabilization device that can be operated to correct the shaking of an image being recorded, a swivel detection device that can be operated to detect, based on a wobble detection, whether a swivel operation is being carried out, a speed control device that can be operated to set a target speed for the slewing operation, a computing device that is operable to calculate a correction magnitude of the image stabilization device based on the target speed and a speed of the detected shake, a control unit that can be operated to control the image stabilization device based on the correction level when a panning operation is performed, and a storage device for the advance storage of a large number of initial speeds, wherein The speed setting device sets one of the initial velocities stored in the memory device as the target speed of the slewing operation immediately after the slewing detection device detects that the slewing operation is being carried out.

Description

BACKGROUND OF THE INVENTION Area of ​​the invention

[0001] The present invention relates to a technique of implementing a smooth panning motion close to a predetermined speed by performing image stabilization taking into account the operation of a panning motion (the movement or rotation in a horizontal plane). Description of the related prior art

[0002] In video recording, smooth panning is usually required for camera work. However, it is difficult to move the hands at a predetermined speed when shooting with a handheld camera or when manually panning using a tripod, and it is very difficult to perform a smooth or consistent pan at a near-predetermined speed.

[0003] In recent years, correcting image blur caused by camera shake has become an indispensable function of image recording devices such as video cameras. Regarding image stabilization in conjunction with panning, many techniques have been proposed, such as a method for correcting image blur perpendicular to the panning direction (for example, Japanese Patent Publication JP 2006-115 322 A).

[0004] The image stabilization method according to the aforementioned conventional technique can correct image blur perpendicular to a panning direction, but cannot correct image blur in the same direction as the panning direction (horizontal direction). It is therefore difficult to implement smooth panning operation near a predetermined speed for user panning.

[0005] Further prior art is disclosed in US 2011 / 0 234 822 A1, which discloses an imaging device comprising a shake detector for detecting shake applied to the imaging device, a first computing unit for calculating a first shake correction magnitude based on an output from the shake detector, a vector detector for detecting a motion vector on an imaging surface, a first integration unit for integrating an output from the vector detector, a second computing unit for calculating a second shake correction magnitude based on the output of the vector detector, a shake correction unit for correcting image shake based on the first shake correction magnitude and the second shake correction magnitude, and a view angle change determination unit for detecting a view angle change operation of the imaging device.wherein the viewing angle change determination unit determines the start of the viewing angle change operation when a signal obtained based on the output of the wobble detector is greater than a predetermined value or when an output of the first integration unit is greater than a predetermined value.

[0006] Further prior art is revealed in US 2006 / 0 082 656 A1, which discloses a camera capable of capturing a moving image by panning the camera. The camera comprises a detection unit that captures the speed characteristics of an actual camera pan, a calculation unit that calculates the speed characteristic difference between the speed characteristics of an actual pan and preset reference pan speed characteristics, and a correction unit that performs a correction based on the calculated speed characteristic difference to bring the pan speed characteristic of a moving image closer to the reference pan speed characteristic.

[0007] Further state of the art is shown in DE 10 2008 042 562 A1, which describes an image recording device that has a shake detection device and performs image stabilization during panning operation. SUMMARY OF THE INVENTION

[0008] The present invention was made taking into account the problem described above, and in certain embodiments allows a smooth or uniform panning operation close to a predetermined speed during the insertion of an image stabilization.

[0009] The present invention provides an image acquisition device comprising a shake detection device operable to detect shake of the image acquisition device, an image stabilization device operable to correct the shake of an image to be recorded, a pan detection device operable to detect, based on shake detection, whether a panning operation is being performed, a speed setting device operable to set a target speed of the panning operation, a calculation device operable to calculate a correction amount of the image stabilization device based on the target speed and a speed of the detected shake, and a control device operable to control the image stabilization device based on the correction amount.when a slewing operation is performed, and with a storage device for the prior storage of a plurality of initial velocities, wherein the speed setting device sets one of the initial velocities stored in the storage device as the target speed of the slewing operation immediately after the slewing detection device detects that the slewing operation is being performed.

[0010] The present invention provides a method for controlling the aforementioned image acquisition device, comprising a shake detection step for detecting shake of the image acquisition device, an image stabilization step for correcting the shake of an image to be recorded, a pan detection step for detecting, based on the shake detection step, whether a pan operation is being performed, a speed setting step for setting a target speed of the pan operation, a calculation step for calculating a correction amount of the image stabilization step based on the target speed and a speed of the detected shake, a control step for controlling the image stabilization step based on the correction amount when a pan operation is being performed, and a storage step for pre-storing a plurality of initial speeds.wherein the speed setting step sets one of the initial velocities stored in the memory step as the target speed of the slewing operation immediately after the slewing detection step detects that the slewing operation is being performed.

[0011] Further features of the present invention are disclosed by means of the following description of illustrative embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing the system layout of an image acquisition device, Fig. 2 is a flowchart showing the control processing of a swivel operation with a predetermined speed, Fig. Figure 3 is a conceptual view showing a vectorized velocity calculation during swivel operation with a predetermined velocity. Fig. 4 is a block diagram showing a variation of the system arrangement of an image acquisition device, and Fig. Figure 5 is a block diagram showing another variation of the system arrangement of an image acquisition device. DESCRIPTION OF THE EXAMPLES OF EXECUTION

[0012] The embodiments of the present invention are described in detail below with reference to the attached drawings.

[0013] Fig. Figure 1 is a block diagram showing the system layout of an image acquisition device. Referring to Fig. 1. A magnifying lens group 1 (zoom lens) changes the focal length and performs magnification. An image stabilization lens group 2 (shifting lens) corrects image blur (shake of the image being captured) by moving it in a direction perpendicular to the optical axis. A focal point adjustment lens group 3 (focal point lens) has both a focal point or focus adjustment function and a so-called compensation function to correct any movement of a focal plane caused by magnification. An image sensor 4 photoelectrically converts an object image formed by lens groups 1, 2, and 3 and generates an image signal. A CCD or CMOS sensor, or similar, is used as the image sensor 4. A camera signal processing circuit 5 contains an analog signal processing circuit and a digital signal processing circuit.The analog signal processing circuit of the camera signal processing circuit 5 generates an analog image acquisition signal by performing predetermined processing on the signal received from the image sensor 4. The analog signal processing circuit includes, for example, a CDS circuit (correlated double sampling) and an AGC circuit (automatic gain control). The digital signal processing circuit of the camera signal processing circuit 5 converts the analog image acquisition signal into a digital signal using an analog-to-digital converter (ADC) and generates a digital video signal that has undergone predetermined signal processing such as gamma correction and white balance.

[0014] A recording unit 6 includes a recording device for recording a video signal on a recording medium (for example, memory card, hard disk, DVD, or magnetic tape), a display device (for example, liquid crystal display or viewfinder) for outputting and displaying the video signal, and their control circuits.

[0015] Angular velocity detection devices 11 and 12, which are components of a wobble detection mechanism, are, for example, angular velocity sensors such as a vibration gyroscope. The angular velocity detection devices 11 and 12 have different detection axes. In this embodiment, the angular velocity detection device Y 11 detects wobble in the yaw direction, and the angular velocity detection device P 12 detects wobble in the pitch direction. Amplifiers 13 and 14 amplify angular velocity signals, which represent wobble of the image acquisition device at the time of image acquisition and an output from the angular velocity detection device Y (yaw direction) 11 and the angular velocity detection device P (pitch direction) 12, respectively, and output the angular velocity signals.High-pass filters (HPFs) 15 and 16 have a function that allows them to modify the frequency response, for example, by changing the cutoff frequency. The HPFs 15 and 16 limit low-frequency components contained in the angular velocity signals amplified by amplifiers Y 13 and P 14, respectively, and output the angular velocity signals. Integrators 17 and 18 integrate the angular velocity signals output by the HPFs 15 and 16, thereby obtaining angular displacement measures.

[0016] A pan detection unit 19, which serves as a motion detection unit, determines panning as a viewing angle movement operation of the image acquisition device in a predetermined direction based on the yaw direction angle displacement magnitude output by the integrator Y 17 (the detection result of the angular velocity detection unit 11). A tilt detection unit 20 determines tilting based on the pitch direction angle displacement magnitude output by the integrator 18. A pan speed adjustment unit 21 sets a pan speed in the yaw direction. The pan speed adjustment unit 21 also estimates and sets a pan target speed Vt based on the output result of the angular velocity detection unit 11. In addition, the pan speed adjustment unit 21 calculates a detected velocity V from a time-dependent change in the angular displacement magnitude.The slew speed adjustment unit 21 also calculates a correction speed Vc from the difference between the detected speed V and the slew target speed Vt. A tilt speed adjustment unit 22 sets a tilt speed in the slew direction. The tilt speed adjustment unit 22 also estimates the tilt target speed Vt, calculates the detected speed V, and calculates the correction speed Vc in the same way as the slew speed adjustment unit 21. A yaw control target value generation unit 23 calculates the correction target value of the displacement lens 2 based on the angular displacement magnitude output by the integrator Y 17 and the slew target speed output by the slew speed adjustment unit 21.A pitch control target value generation unit 24 calculates the correction target value of the displacement lens 2 based on the angular displacement magnitude output by the integrator P 18 and the tilt velocity output by the tilt velocity setting unit 22.

[0017] Drive units 31 and 32 are drive circuits configured to drive the displacement lens 2 based on the correction target values ​​obtained from the control target value generation units 23 and 24. The timing of the aforementioned pan detection, target setting, and calculation of a detected velocity can occur sequentially or simultaneously. The description provided is for illustrative purposes only.

[0018] The operation of a shake detection system for image stabilization is described below. First, the angular velocity detection unit Y 11 and the angular velocity detection unit P 12 detect camera shake. The control target value generation units 23 and 24 obtain image stabilization target values ​​that correspond to the detection directions of the angular velocity detection unit Y 11 and the angular velocity detection unit P 12 for the respective axes. The drive units 31 and 32 drive and control the displacement lens 2 in the yaw and pitch directions according to the image stabilization target values. This enables optical image stabilization.

[0019] The sensing axes of the angular velocity sensing device Y 11 and the angular velocity sensing device P 12 are arranged to be perpendicular to each other on a plane perpendicular to the optical axis of lens groups 1, 2 and 3. This makes it possible to correct the rotational wobble of the camera in the horizontal (yaw) direction and in the vertical (pitch) direction.

[0020] The yaw control target value generation circuit 23 calculates the degree of image stabilization in the yaw direction based on a wobble signal from the angular velocity sensing device Y 11. The yaw drive circuit 31 drives the displacement lens 2 in a correction axis direction that is the same as the sensing axis direction of the angular velocity sensing device Y 11, thereby performing image stabilization in the yaw direction. Similarly, the pitch control target value generation circuit 24 calculates the degree of image stabilization in the pitch direction based on a wobble signal from the angular velocity sensing device P 12. The pitch drive circuit 32 drives the displacement lens 2 in a correction axis direction that is the same as the sensing axis direction of the angular velocity sensing device P 12, thereby performing image stabilization in the pitch direction.

[0021] A pan operation, involving moving the camera in the horizontal direction, is described next. It is noted that a tilt operation, involving moving the camera in the vertical direction, can be handled in an equivalent manner to a pan by simply swapping the yaw and pitch axes. Therefore, a pan operation is described below, and a description of a tilt operation is omitted.

[0022] Fig. Figure 2 is a flowchart showing the processing for implementing a panning operation at a predetermined speed. This procedure is executed repeatedly at a predetermined period (for example, the acquisition period of the angular velocity sensor). The operation can only be performed if image stabilization is enabled.

[0023] In step S1001, the angular velocity detection unit Y 11 detects the angular velocity of a wobble. In step S1002, the integrator 17 integrates the angular velocities of the wobble, thereby calculating the angular displacement. In step S1003, the slew velocity adjustment unit 21 calculates the detected velocity V from a temporal change in the angular displacement. In step S1004, the slew detection unit 19 determines a slew based on the angular displacement. In step S1004, the slew detection unit 19 distinguishes whether the angular displacement changes in the same direction.

[0024] If the swivel detection unit 19 determines in step S1004 that the swivel operation of the device is being performed, the process proceeds to step S1005. If it determines that swiveling is not being performed, the process proceeds to step S1006. In step S1005, the swivel speed setting unit 21 estimates and sets the target swivel speed Vt based on the output result of the angular velocity detection unit Y 11. In step S1006, the target swivel speed Vt is set to 0.

[0025] In step S1007, the slew speed setting unit 21 calculates the correction speed Vc from the difference between the detected speed V calculated in step S1003 and the slew target speed Vt set in step S1005 (or in step S1006). In step S1008, the yaw control target value generation unit 23 receives a correction target position from the correction speed Vc calculated in step S1007 and the displacement / speed value from the integrator Y 17 and corrects the displacement lens.

[0026] Fig. Figure 3 is a conceptual view showing a vectorized correction velocity used to implement a slewing operation at a predetermined speed. Vectors indicated by dashed lines represent the detected velocity V. Vectors indicated by alternating long and short dashed lines represent the target velocity Vt, used to implement a slewing operation at a predetermined speed. Vectors indicated by solid lines represent the correction velocity Vc. At this point, the correction velocity Vc can be obtained by Vc=Vt−V

[0027] This means that the velocity detected by the sensor is subtracted from the predetermined panning target velocity, thus obtaining the correction velocity. If the detected velocity V is less than the target velocity Vt, the displacement lens 2 is driven in a direction in which additional panning is performed to accelerate the movement of the displacement lens 2. Conversely, if the detected velocity V is greater than the target velocity Vt, the displacement lens 2 is driven in a direction in which the panning is slowed down to suppress the movement of the displacement lens 2.

[0028] A method for estimating the panning target velocity Vt in step S1005 is described below. The panning target velocity Vt is ideally the rate of change of viewing angle intended by the user. Therefore, the velocity is estimated by obtaining, for example, an average value over a predetermined time from the angular displacement magnitude based on the angular velocity detected by the angular velocity sensing device Y 11.

[0029] As a first method to maintain a predetermined slewing speed, the average movement speed is calculated for a predetermined time (e.g., 0.5 seconds) after the start of a slewing operation, and the calculated speed is set as the target speed Vt during the slewing operation. This same speed is set as the target speed for the duration of the slewing operation, and a slewing operation at the predetermined speed can then be carried out.

[0030] The second method calculates the average value for a predetermined time not only after the start of a slewing operation but also at any time, and the target speed Vt is updated periodically (for example, every 0.5 seconds). In this case, even if a change in speed occurs during the user's slewing operation (or slewing process or slewing control), it is always possible to quickly follow the change in speed and perform a smooth or consistent slewing operation at a predetermined speed.

[0031] The third method calculates the average value over a predetermined time at any given time and provides a threshold for updating the target speed. If a change in the calculated average value is equal to or greater than the threshold, the target speed Vt is updated. The first method sets a fixed target speed. The second method sets a periodically changing target speed. However, the third method uses a fixed target speed unless a large change occurs in a speed estimate obtained from the calculated averages. The target speed can only be updated if a large change occurs.In this way, even if the user changes the speed during slewing operation, the slewing operation can still be carried out at a predetermined speed, and the operation can even follow a large change in slewing speed. It should be noted that the predetermined time in which the average value is calculated can be a fixed time, or the time for calculating the average value can be changed according to the slewing speed.

[0032] Image stabilization control during a pan is described below. When a pan is performed, the camera preferably moves at a predetermined speed in the direction of movement. However, image blur is preferably suppressed in a direction (for example, the pitch direction when the camera is moving in the yaw direction) perpendicular to the direction in which the camera is moving (camera movement direction). To achieve this, the correction amount is calculated according to the pan target speed in a direction in which panning is detected (direction parallel to the camera movement direction). However, a correction is also applied in a direction perpendicular to the direction in which panning is detected to correct as much as possible any shake (all wobbles) that are detected but not intended as panning.

[0033] As described above, the system described in this embodiment estimates the panning target speed based on an angular displacement measured at the time of a pan (or tilt) operation and performs a correction using a correction velocity obtained by subtracting the measured velocity from the target velocity, so that the viewing angle, and therefore the viewed scene, moves at a predetermined speed. This makes it possible to implement smooth or uniform panning operation close to a predetermined speed for manual panning by a user.

[0034] The following describes a variation or modification of the above. Previously, a method for correcting a slewing motion by estimating a slewing target velocity from the average of measured angular displacement values ​​was described. This explanation presents an example where the slewing target velocity is determined using a different method.

[0035] It is noted that the following procedure is based on the one in Fig. The system arrangement shown in 1 can be implemented. A swivel operation at a predetermined speed can also be achieved through an operation based on the one shown in 1. Fig. 2 procedure shown, excluding the detailed slew target velocity decision procedure of step S1005 in Fig. 2 be implemented.

[0036] As described above, the panning speed is ideally the speed of a user-intended change in the viewing angle. However, when capturing images using a handheld camera or during manual operation using a tripod, it is difficult for the user to achieve an intended viewing angle, and therefore it is difficult to estimate the user-intended speed. Considering this problem from a different perspective, it is assumed that the angular displacement measured by an angular velocity sensor will, in many cases, not reflect the user-intended speed.

[0037] On the other hand, it is assumed that if a view or scene is captured by following a moving object with the camera, the user should move the camera in such a way that the tracked object fits within the screen. Therefore, a motion vector of the image can be calculated, and the target speed and correction speed can be calculated such that an object captured in the image is placed in the center of the screen.

[0038] Fig. Figure 4 is a block diagram showing a system layout configured to implement the processing described above. The system layout is similar to that shown in Fig. Figure 1 differs, except that the system includes a motion vector detection circuit 7. The motion vector detection circuit 7 detects a motion vector between frames based on a video signal output from a camera signal processing circuit 5. The detected motion vector is input to a pan speed control circuit 21 and a tilt speed control circuit 22. The speed control circuits 21 and 22 determine the pan and tilt speeds based on the input motion vector.

[0039] As described, the system calculates the Fig. 4. The pan target speed (or tilt target speed) is determined based on a motion vector detected during panning (or tilting) operation. The system then performs a correction by a correction speed obtained by subtracting the detected speed from the target speed, so that the viewing angle, and therefore the viewed scene, moves at a predetermined speed. This allows for smooth or uniform panning close to a predetermined speed for manual panning by a user.

[0040] A further variation of the above arrangements is described below. In this arrangement, the swiveling target speed is decided or determined by a method that differs from those described above.

[0041] It is noted that the following procedure is also based on the one in Fig. The system arrangement shown in 1 can be implemented. A swivel operation at a predetermined speed can also be achieved through an operation based on the one shown in 1. Fig. 2 procedure shown, with the exception of the detailed slew target velocity decision procedure of step S1005 of the Fig. 2 will be implemented.

[0042] Panning is an image capture technique in which the user intentionally and abruptly moves a camera from a stationary position. Only the user knows the precise moment the camera moves. Furthermore, the panning speed is determined by the user's intention and is difficult to predict.

[0043] As described below, a variety of initial target speed values ​​(for example, high-speed pan, medium-speed pan, low-speed pan, and ultra-low-speed pan) are pre-stored. Immediately after a pan capture, one of these initial values ​​is set as the target speed (initial speed setting). Subsequently, as the pan operation progresses, the initially set target speed can be continuously used as a fixed speed. Alternatively, as described above, the target speed can be estimated from the average value of angular displacement magnitudes according to user operation and sequentially updated.

[0044] Fig. Figure 5 is a block diagram showing a system layout configured to implement the processing described above. The system layout is similar to that shown in Fig. The system shown in Figure 1 differs from the system shown in Figure 1 in that it includes an initial velocity memory circuit 8. The initial velocity memory circuit 8 stores the initial values ​​of the slew target velocity in advance. When a slew detection unit 19 or a tilt detection unit 20 detects a slew or tilt operation, the initial values ​​of the slew target velocity and tilt target velocity stored in the initial velocity memory circuit 8 are read out. Then, a slew velocity setting circuit 21 and a tilt velocity setting circuit 22 determine the target velocities.

[0045] Alternatively, an image acquisition trial mode can be provided. The initial value of the panning target speed can be determined in advance based on a panning operation in the trial mode and stored in the initial speed memory circuit 8. In this case, when an image is acquired in an image acquisition mode and a panning movement is detected, the initial speed stored as an initial value in the trial mode is read out.

[0046] As described above, the system in this arrangement determines a target velocity initial value stored during panning (or tilting) operation as a panning target velocity (or tilting target velocity). The system then performs a correction by a correction velocity obtained by subtracting the detected velocity from the target velocity, so that the viewing angle, and therefore the viewed scene, moves at a predetermined speed. This allows for the implementation of smooth or uniform panning operation close to a predetermined speed for manual panning by a user.

[0047] Additional arrangements can also be implemented by means of a computer of a system or device that reads and executes computer-executable instructions recorded on a storage medium (for example, a non-volatile, computer-readable storage medium) to perform the functions of one or more of the arrangements described above, and by means of a method carried out by the computer of the system or device, for example, by reading and executing the computer-executable instructions from the storage medium to perform the functions of one or more of the arrangements described above. The computer can comprise one or more central processing units (CPUs), microprocessor units (MPUs), or other circuits, and can include a network of separate computers or separate computer processors.The instructions that can be executed by the computer can be provided to the computer, for example, by a network or the storage medium. The storage medium can include, for example, one or more hard drives, read / write memory (RAM), read-only memory (ROM), distributed computing system memory, optical discs (such as compact discs (CDs), digital versatile discs (DVDs), or Blu-ray discs (BD™)), flash memory devices, memory cards, and the like.

[0048] While the present invention has been described with reference to illustrative embodiments, it is understood that the invention is not limited to those disclosed. The scope of the following claims is to be interpreted in the broadest possible way to encompass all such modifications and equivalent structures and functions.

[0049] An image acquisition device comprises a shake detection unit configured to detect shake, an image stabilization unit configured to correct image shake, a pan detection unit configured to detect whether panning is being performed based on a detection result from the shake detection unit, a speed control unit configured to set a target speed for panning, a calculation unit configured to calculate the correction amount for the image stabilization unit based on the target speed set by the speed control unit and the speed of the shake detected by the shake detection unit, and a control unit configured toto control a movement of the image stabilization unit based on the correction amount calculated by the computation unit when the pan detection unit detects that panning operation is being performed.

Claims

[1] Image recording device, with a shake detection device that can be operated to detect shake of the image recording device, an image stabilization device that can be operated to correct the shaking of an image being recorded, a swivel detection device that can be operated to detect, based on a wobble detection, whether a swivel operation is being carried out, a speed control device that can be operated to set a target speed for the slewing operation, a computing device that is operable to calculate a correction magnitude of the image stabilization device based on the target speed and a speed of the detected shake, a control unit that can be operated to control the image stabilization device based on the correction level when a panning operation is performed, and a storage device for the advance storage of a large number of initial speeds, wherein The speed setting device sets one of the initial velocities stored in the memory device as the target speed of the slewing operation immediately after the slewing detection device detects that the slewing operation is being carried out. [2] Device according to claim 1, wherein the calculating device calculates the correction amount of the image stabilization device based on a difference between the target speed and the speed of the wobble detected by the shake detection device, and wherein when the pan detection device detects that a pan operation is being performed, the control device controls the movement of the image stabilization device based on the correction amount. [3] Device according to claim 1, wherein the control device controls the movement of the image stabilization device based on a degree of wobble detected by the wobble detection device with respect to the wobble of the image to be recorded in a direction perpendicular to a direction of movement of a viewing angle during panning operation. [4] Device according to claim 1, wherein a wobble comprises an angular movement, and the wobble detection device has an angular velocity detection device configured to detect an angular velocity of the wobble of the image recording device. [5] Device according to claim 4, wherein the speed control device estimates the target speed of the swivel operation based on an average value of a movement speed of a viewing angle obtained based on the angular velocity detected by the wobble detection device. [6] Device according to claim 1, further comprising a motion vector detection device for detecting a motion vector of an image from a recorded image signal, and wherein the speed control device calculates the target speed of the panning operation based on the motion vector detected by the motion vector detection device. [7] Device according to claim 1, further comprising an initial velocity setting device for calculating the target velocity of a viewing angle movement operation based on a prior operation, and for storing the target velocity in a storage device as an initial velocity, and wherein the velocity setting device sets the initial velocity as the target velocity of the swivel operation immediately after the swivel detection device detects that the swivel operation is being carried out. [8] Device according to claim 1, further comprising a display device for displaying a difference between the target speed of the swivel operation and the speed of the wobble detected by the wobble detection device. [9] Method of controlling an image recording device, with a wobble detection step of detecting a wobble of the image recording device, an image stabilization step of correcting the shaking of an image being recorded, a pan detection step of a detection, based on the wobble detection step, whether a pan operation is performed, a speed adjustment step of setting a target speed of the slewing operation, a calculation step of calculating a correction magnitude of the image stabilization step based on the target speed and a speed of the detected shake, a control step of controlling the image stabilization step based on the correction amount when a panning operation is performed, and a storage step of a prior storage of a multitude of initial speeds, wherein The speed setting step sets one of the initial velocities stored in the memory step as the target speed of the slewing operation immediately after the slewing detection step detects that the slewing operation is being carried out. [10] Storage medium that stores a program that causes a computer to perform steps of a control procedure defined in claim 9.

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