Imaging device and drive device

Abstract

Correcting the vertical parallax of each image used to generate a stereoscopic image. [Solution] The imaging device comprises an imaging device body equipped with an image sensor, a first lens having a first no-parallax point, a second lens having a second no-parallax point, and a drive unit that controls the positions of the first lens and the second lens so that the straight line connecting the first no-parallax point and the second no-parallax point is perpendicular to the direction of gravity.

Description

Technical Field

[0004] , , ,

[0001] The present invention relates to an imaging device capable of generating a stereoscopic image from a plurality of images.

Background Art

[0002] Conventionally, when generating a stereoscopic image by combining two images with a parallax, when the parallax of the two respective images corresponding to the left and right eyes is shifted in the vertical direction, a method of adjusting the images to suppress the vertical parallax shift has been proposed. Patent Document 1 discloses a configuration for removing the vertical parallax by performing a process of tilting the images when the two captured images are tilted with respect to the user's viewpoint.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the configuration of Patent Document 1, other objects hidden by objects in the image are not captured in the image, making it impossible to accurately correct parallax misalignment. For example, as shown in Figure 15, when two cans 901 and 902 are placed one behind the other and two cameras capture left and right images from direction A to generate a stereoscopic image, if there is no vertical parallax misalignment, the left-eye image (L) and right-eye image (R) shown in Figure 16(a) are obtained. Figure 16(b) shows the image captured when the camera is tilted. In this case, the conventional method corrects the tilt by rotating the image, as shown in Figure 2(c). By changing the image cropping position, the positional misalignment of the foreground can 901 can be corrected, but the vertical positional misalignment of the background can 902 can remain. In addition, differences remain, such as the top surface of the foreground can 901 not being visible in the left-eye image (L) but being visible in the right-eye image (R). Furthermore, in the case of a camera with a detachable lens where two lenses are attached as a single unit, assembly errors in the camera and lens mounting parts may cause the lens to be mounted at an angle relative to the camera, potentially resulting in parallax in the vertical direction.

[0005] The present invention aims to correct the vertical parallax of each image used to generate a stereoscopic image. [Means for solving the problem]

[0006] An imaging device as one aspect of the present invention is characterized by comprising: an imaging device body equipped with an image sensor; a first lens having a first no-parallax point; a second lens having a second no-parallax point; and a drive unit that controls the positions of the first lens and the second lens such that a straight line connecting the first no-parallax point and the second no-parallax point is perpendicular to the direction of gravity. [Effects of the Invention]

[0007] According to the present invention, the parallax in the vertical direction of each image used to generate a stereoscopic image can be corrected. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of the internal configuration of a camera system according to an embodiment of the present invention. [Figure 2] This is a schematic diagram showing the relationship between the camera body, image sensor, first image circle, and second image circle. [Figure 3] Decomposed perspective view of the imaging unit [Figure 4] This is a perspective view of the camera system according to the first embodiment. [Figure 5] This figure shows the case where there is a vertical misalignment between the first lens and the second lens in the first embodiment. [Figure 6] This figure shows the case where there is no vertical misalignment between the first lens and the second lens in the first embodiment. [Figure 7] This figure shows the case where the straight line connecting the first no-parallax point and the second no-parallax point is parallel to the image sensor of the first embodiment. [Figure 8] This is a flowchart showing the stereoscopic image acquisition operation of the first embodiment. [Figure 9] This diagram shows the two camera bodies mounted on a base. [Figure 10] Perspective view of the camera system of the second embodiment [Figure 11] This figure shows the case where there is a vertical misalignment between the first lens and the second lens in the second embodiment. [Figure 12] This figure shows the case where there is no vertical misalignment between the first lens and the second lens in the second embodiment. [Figure 13] This figure shows the case where the line connecting the first no-parallax point and the second no-parallax point is parallel to the image sensor of the second embodiment. [Figure 14] This is a flowchart showing the stereoscopic image acquisition operation of the second embodiment. [Figure 15] This is a perspective view showing two cans placed one behind the other (conventional example). [Figure 16]This is an explanatory diagram of a method for correcting parallax misalignment (conventional example). [Modes for carrying out the invention]

[0009] The embodiments of the present invention will be described in detail below with reference to the drawings. In each figure, the same reference numeral is used for identical components, and redundant explanations are omitted.

[0010] Figure 1 is a schematic diagram of the internal configuration of a camera system according to an embodiment of the present invention. The camera system comprises a camera body 1 and a lens unit 2. The lens unit 2 has a first lens 21 and a second lens 22. The camera body 1 has an imaging unit 11, an image processing unit 12, and an acceleration sensor (third detection means) 13, and is connected to the lens unit 2. The imaging unit 11 includes an image sensor 111, such as a CMOS image sensor. The image sensor 111 converts light that has passed through the first lens 21 and the second lens 22 into an image signal. The image processing unit 12 performs image processing on the image signal from the image sensor 111, including pre-processing such as signal amplification and reference level adjustment, color interpolation processing to interpolate the values ​​of color components not included in the image data, correction processing to correct white balance and image brightness, and detection processing. The image data after image processing is recorded. The image processing unit 12 also includes a detection processing unit (first detection means) 121 and an image position adjustment unit (adjustment unit) 122. The detection processing unit 121 detects feature points in the image. The image position adjustment unit 122 adjusts the rotation and cropping position of the image. The acceleration sensor 13 can detect the tilt of the camera body 1 with respect to the direction of gravity.

[0011] The light passing through the first lens 21 and the second lens 22 is irradiated onto different regions on the imaging surface of the imaging device 111. The image processing unit 12 performs image processing on the left-eye image 211 generated using the light passing through the first lens 21 and the right-eye image 221 generated using the light passing through the second lens 22. The detection processing unit 121 compares the feature points of the left-eye image 211 and the right-eye image 221 respectively, and obtains the direction and amount of parallax at each point. Therefore, based on the left-eye image 211 and the right-eye image 221, it is possible to calculate the amount of vertical parallax shift between the first lens 21 and the second lens 22, and the relative positional shift of the first lens 21 and the second lens 22 with respect to the imaging device 111.

[0012] Figure 2 is a schematic diagram showing the relationship between the camera body 1, the imaging device 111, the first image circle 212, and the second image circle 222. The light passing through the first lens 21 and the second lens 22 forms the first image circle 212 and the second image circle 222 on the imaging device 111 respectively. Also, the first lens 21 and the second lens 22 each have a first no-parallax point 213 and a second no-parallax point 223. The no-parallax point is a point where no parallax occurs when the camera body 1 is rotated around the no-parallax point. In Figure 2, the first no-parallax point 213 and the second no-parallax point 223 projected onto the imaging surface of the imaging device 111 are shown. The image position adjustment unit 122 determines the first region 214 in the first image circle 212 and the second region 224 in the second image circle 222. Also, the image position adjustment unit 122 adjusts the cutout range, inclination, size, etc. from the first region 214 and the second region 224 to generate the left-eye image 211 and the right-eye image 221.

[0013] FIG. 3 is an exploded perspective view of the imaging unit 11. The imaging unit 11 includes an imaging movable unit 112 that holds the imaging element 111, and an imaging fixed unit 113 that is fixed to the camera body 1. Since the imaging movable unit 112 is biased in the -Z axis direction by a magnet or the like via the ball 114 with respect to the imaging fixed unit 113, it can move in the X-Y plane direction. The imaging unit 11 includes a first actuator 115, a second actuator 116, and a third actuator 117. Each of the plurality of actuators is a voice coil motor composed of a magnet and a coil, and drives the imaging element 111 with respect to the camera body 1 in a plane parallel to the imaging surface of the imaging element 111. The first magnet 1152, the second magnet 1162, and the third magnet 1172 are held by the imaging fixed unit 113. The first coil 1151, the second coil 1161, and the third coil 1171 are held by the imaging movable unit 112. Each of the plurality of coils is driven by controlling the energization amount with a circuit board (not shown). The yoke 118 is fixed to the imaging fixed unit 113 with screws 119. By sandwiching each coil between the yoke 118 and the corresponding magnet, each actuator forms a voice coil motor. The first actuator 115 and the second actuator 116 drive the imaging unit 11 in the Y axis direction, and the third actuator 117 drives the imaging unit 11 in the X axis direction. Further, by causing the first actuator 115 and the second actuator 116 to generate driving forces in opposite directions, the imaging movable unit 112 can be rotationally driven in the roll direction with respect to the imaging fixed unit 113.

[0014] [[ID=*3]] Hereinafter, the correction of the vertical parallax shift in each embodiment will be described. [First Embodiment] Figure 4 is a perspective view of the camera system (imaging device) 41 of this embodiment. The camera system 41 includes a camera body 1, which is the main body of the imaging device, a lens unit 2, and a gimbal unit 3, which is a drive device. The camera body 1 is held by the gimbal unit 3. The gimbal unit 3 has a mounting part 31 for detachably attaching the camera body 1, a grip part 32 for the photographer to hold, a first drive unit 33, a second drive unit 34, and a third drive unit 35. The first drive unit 33 is equipped with an actuator capable of rotating the camera body 1 in the yaw direction, which is the direction of rotation around the Y axis. The second drive unit 34 is equipped with an actuator capable of rotating the camera body 1 in the roll direction, which is the direction of rotation around the Z axis. The third drive unit 35 is equipped with an actuator capable of rotating the camera body 1 in the pitch direction, which is the direction of rotation around the X axis. Each drive unit drives the actuator to adjust the posture of the camera body 1 relative to the grip part 32. When the photographer holds the grip portion 32 and shake such as hand tremor is input, each drive unit controls the actuator in accordance with the signal detected by the hand tremor detection unit (second detection means) 36 (not shown) of the gimbal unit 3 to prevent the shake from being input to the camera body 1. In this embodiment, for the sake of simplicity of explanation, drive units corresponding to the yaw, pitch, and roll directions are provided, but it is sufficient that the resultant force of the drive units corresponds to the yaw, pitch, and roll directions, and the drive units may be arranged at an angle to each axis.

[0015] Figure 5 shows the case where there is a vertical misalignment between the first lens 21 and the second lens 22 with respect to the image sensor 111. When the lens unit 2 is mounted to the camera body 1 at an angle due to play in the fitting part, misalignment occurs due to changes in component dimensions due to temperature, or vertical manufacturing errors between the first lens 21 and the second lens 22 with respect to the lens unit 2. As a result, the first image circle 212 and the second image circle 222 are shifted vertically, causing parallax. At this time, the straight line 23 connecting the first no-parallax point 213 and the second no-parallax point 223 is tilted by an angle θ with respect to the horizontal line 24 that would exist if there were no vertical parallax misalignment between the first lens 21 and the second lens 22. When a user plays a stereoscopic image using a head-mounted display (HMD), if the straight line 23 is perpendicular to the direction of gravity, the stereoscopic image can be perceived more naturally. The angle θ is calculated by the detection processing unit 121 from the feature points in the first image circle 212 and the feature points in the second image circle 222.

[0016] From the state shown in Figure 5, the camera body 1 is rotated by an angle θ, that is, the second drive unit 34 of the gimbal unit 3 is driven so that the straight line 23 is perpendicular to the direction of gravity, thereby controlling (changing) the attitude of the camera body 1. As a result, the positions of the first lens 21 and the second lens 22 are controlled (changed) to the state shown in Figure 6. Figure 6 shows the case where there is no vertical displacement between the first lens 21 and the second lens 22. At this time, the images on the first image circle 212 and the second image circle 222 are tilted by an angle θ with respect to the image sensor 111. Therefore, the image position adjustment unit 122 can generate a stereoscopic image without vertical parallax by generating the left eye image 211 and the right eye image 221, respectively, from the first region 214 and the second region 224, which are tilted by an angle θ.

[0017] Figure 7 shows the case where the actuators of the imaging unit 11 are driven from the state shown in Figure 8, and the straight line 23 becomes parallel to the image sensor 111. When the actuators of the imaging unit 11 are driven, and the image sensor 111 is rotated by an angle θ in the opposite direction to the driving direction of the second drive unit 34 relative to the camera body 1, the angles θ of the images on the first and second image circles 212 and 222 relative to the image sensor 111 are canceled out. Therefore, the image position adjustment unit 122 can generate the left eye image 211 and the right eye image 221 without tilting the first region 214 and the second region 224, thus shortening the processing time.

[0018] The procedure for stereoscopic image acquisition in this embodiment will be described below with reference to Figure 8. Figure 8 is a flowchart of the stereoscopic image acquisition operation.

[0019] In step S101, the camera body 1 prepares for shooting. Specifically, the camera body 1 activates, adjusts, and operates various parts to transition to a shooting-ready state, including activating the image sensor 111, starting power to each actuator of the imaging unit 11, adjusting the focus of the first and second lenses 21 and 22, and starting image stabilization by the gimbal unit 3.

[0020] In step S102, the camera body 1 is set to calibration mode before the shooting operation begins. Because the camera body 1 is image stabilization performed by the gimbal unit 3, it has a constant tilt with respect to the direction of gravity. As described above, the detection processing unit 121 obtains the angle θ from the feature points of the images of the first image circle 212 and the second image circle 222 on the image sensor 111. The position where the angle θ is 0 is taken as the target orientation of the camera body 1, and the amount of deviation from this target orientation is taken as the amount of camera shake. The camera body 1 is held in a state where there is no parallax in the vertical direction by driving each drive unit of the gimbal unit 3 according to the corresponding axis.

[0021] In step S103, the camera body 1 performs a shooting operation at the user's discretion, acquiring the left eye image 211 and the right eye image 221. During the shooting operation, the camera body 1 is held by the gimbal unit 3 in a state without vertical parallax, making it possible to capture a stereoscopic image without vertical parallax. The tilt of the left eye image 211 and the right eye image 221 can be canceled by the operation of each actuator of the imaging unit 11, but the image position adjustment unit 122 may also adjust the tilt between the end of shooting and the time it takes the stereoscopic image with the HMD or the like. Furthermore, vertical parallax can be acquired based on the feature points of the left eye image 211 and the right eye image 221 acquired during the shooting operation, and the target value can be continuously updated at predetermined time intervals to cancel the error of the gimbal unit 3 and correct the vertical parallax more accurately.

[0022] In this embodiment, two lenses are used to form an image on a single image sensor, but two image sensors (a first image sensor and a second image sensor) may also be used. In this case, the first image sensor receives light that has passed through the first lens 21, and the second image sensor receives light that has passed through the second lens 22. Furthermore, it is not necessary for two lenses to be attached to a single camera body; as shown in Figure 11, the same effect can be obtained by mounting two pairs of cameras and lenses, a camera body 61 and lens 62, and a camera body 63 and lens 64, on a base 65.

[0023] Furthermore, the lens unit 2 may have an acquisition means for acquiring information (first information) on the amount of misalignment due to manufacturing errors in the vertical direction of the first lens 21 and the second lens 22. If the first information is recorded in the storage means of the lens unit 2, it can be acquired from the storage means, or if it is recorded on a server, it can be acquired from the server via the network. In this case, the amount of drive of the second drive unit 34 for correcting the angle θ may be determined based on the misalignment information and the tilt information of the camera body 1 with respect to the direction of gravity detected by the acceleration sensor 13 (second information).

[0024] As described above, according to the configuration of this embodiment, the second drive unit 34 is driven so that the straight line 23 connecting the first no-parallax point 213 of the first lens 21 and the second no-parallax point 223 of the second lens 22 is perpendicular to the direction of gravity. As a result, even if there are mounting errors or manufacturing errors in the lens unit 2, it is possible to generate a stereoscopic image without parallax in the vertical direction. [Second Embodiment] Figure 10 is a perspective view of the camera system (imaging device) 42 of this embodiment. The camera system 42 includes a camera body 1 and a lens unit 2. A lens rotating unit (drive unit) 5 is positioned between the camera body 1 and the lens unit 2. The lens rotating unit 5 has a position-controllable actuator such as a stepping motor and is capable of rotating the lens unit 2 in the roll direction relative to the camera body 1. The lens rotating unit 5 may be integrally configured with the camera body 1 or the lens unit 2.

[0025] Figure 11 shows a case where there is a vertical misalignment between the first lens 21 and the second lens 22 with respect to the image sensor 111. When the lens unit 2 is mounted to the camera body 1 at an angle due to play in the fitting part, misalignment occurs due to changes in component dimensions due to temperature, or vertical manufacturing errors between the first lens 21 and the second lens 22 with respect to the lens unit 2. As a result, the first image circle 212 and the second image circle 222 are shifted vertically, causing parallax. At this time, the straight line 23 connecting the first no-parallax point 213 and the second no-parallax point 223 has an angle θ with respect to the horizontal line 24 when there is no vertical parallax misalignment between the first lens 21 and the second lens 22. When a user plays a stereoscopic image on an HMD or the like, the stereoscopic image can be perceived more naturally if the horizontal line 23 is perpendicular to the direction of gravity. The angle θ is calculated by the detection processing unit 121 from the feature points in the first image circle 212 and the feature points in the second image circle 222.

[0026] Figure 12 shows the state in Figure 11 where the lens rotation unit 5 is driven to rotate the lens unit 2 by an angle θ relative to the camera body 1, and there is no vertical displacement between the first lens 21 and the second lens 22. At this time, the angle θ2 between the straight line 23 and the image sensor 111 is calculated, and the image position adjustment unit 122 generates the left eye image 211 and the right eye image 221 from the first region 214 and the second region 224, which are tilted by an angle θ2, respectively. This makes it possible to generate a stereoscopic image without vertical parallax. The angle θ2 can be detected using an acceleration sensor 13 or other tilt detection means. It is also possible to cancel the parallax by correcting the tilt of the camera body 1 with the gimbal unit 3.

[0027] Figure 13 shows the case where the actuators of the imaging unit 11 are driven from the state in Figure 12, so that the straight line 23 becomes parallel to the image sensor 111. In Figure 12, the angle θ2 between the straight line 23, calculated from the feature points in the first image circle 212 and the second image circle 222, and the image sensor 111 is calculated. By controlling the actuators of the imaging unit 11 and driving the image sensor 111 by an angle θ2 relative to the camera body 1, the tilt of the images on the first image circle 212 and the second image circle 222 with respect to the image sensor 111 is canceled. Therefore, the image position adjustment unit 122 can generate the left eye image 211 and the right eye image 221 without tilting the first region 214 and the second region 224, and the processing time can be shortened.

[0028] The procedure for stereoscopic image acquisition in this embodiment will be described below with reference to Figure 14. Figure 14 is a flowchart of the stereoscopic image acquisition operation.

[0029] In step S201, the camera body 1 prepares for shooting. Specifically, the camera body 1 activates the image sensor 111, starts powering each actuator of the imaging unit 11, and activates, adjusts, and operates various parts to transition to a shooting-ready state, such as focusing the first lens 21 and the second lens 22.

[0030] In step S202, the camera body 1 is set to calibration mode. As described above, the detection processing unit 121 obtains the angle θ from the feature points of the images of the first image circle 212 and the second image circle 222 on the image sensor 111. The position where the angle θ is 0 is set as the target value, and the lens rotation unit 5 is driven by the amount of deviation from the target value so that the lens unit 2 is held in a state where there is no parallax in the vertical direction.

[0031] In step S203, the camera body 1 performs a shooting operation at the user's discretion, acquiring the left eye image 211 and the right eye image 221. At this time, the lens unit 2 is held in a state without vertical parallax by the lens rotation unit 5, so it is possible to capture a stereoscopic image without vertical parallax. The tilt of the left eye image 211 and the right eye image 221 can be canceled by the operation of each actuator of the imaging unit 11, but the image position adjustment unit 122 may also adjust the tilt between the end of shooting and the time it takes the stereoscopic image with the HMD or the like. Furthermore, by acquiring the vertical parallax based on the feature points of the left eye image 211 and the right eye image 221 acquired during the shooting operation, and continuously updating the target value at predetermined time intervals, the error of the lens rotation unit 5 can be canceled, and the vertical parallax can be corrected more accurately.

[0032] As described above, according to the configuration of this embodiment, the lens rotation unit 5 is driven so that the straight line 23 connecting the first no-parallax point 213 of the first lens 21 and the second no-parallax point 223 of the second lens 22 is perpendicular to the direction of gravity. As a result, even if there are mounting errors or manufacturing errors in the lens unit 2, it is possible to generate a stereoscopic image without parallax in the vertical direction.

[0033] This embodiment includes the following configuration. (Composition 1) An imaging device body equipped with an image sensor, A first lens having a first no-parallax point, A second lens with a second no-parallax point, An imaging apparatus characterized by having a drive unit that controls the positions of the first lens and the second lens such that the straight line connecting the first no-parallax point and the second no-parallax point is perpendicular to the direction of gravity. (Configuration 2) The imaging apparatus according to configuration 1, characterized in that the drive unit controls the positions of the first lens and the second lens by moving the imaging apparatus body, the first lens, and the second lens together as a single unit. (Composition 3) The imaging apparatus according to the configuration described above, characterized in that the drive unit controls the positions of the first lens and the second lens by moving the first lens and the second lens together with respect to the imaging apparatus body. (Composition 4) The system further includes a first detection means for detecting information regarding the positions of the first lens and the second lens. The imaging apparatus according to any one of configurations 1 to 3, characterized in that the drive unit controls the positions of the first lens and the second lens according to the information. (Composition 5) An imaging device according to any one of configurations 1 to 4, further comprising an adjustment unit for adjusting a first image based on light that has passed through the first lens and a second image based on light that has passed through the second lens, in accordance with the aforementioned information. (Composition 6) The imaging apparatus according to any one of configurations 1 to 5, characterized in that the first detection means detects information regarding the positional displacement of the first lens and the second lens in the direction of gravity based on the corresponding feature points of the first image based on light that has passed through the first lens and the second image based on light that has passed through the second lens. (Composition 7) The imaging device according to any one of configurations 1 to 6, characterized in that the amount of drive of the drive unit during the shooting operation is determined based on the information acquired before the start of the shooting operation. (Composition 8) It further has a second detection means for detecting camera shake, Based on the information acquired before the start of the shooting operation, the target orientation of the imaging device body is determined. The amount of drive of the drive unit is determined to correct the camera shake and to hold the imaging device body in the target posture, as described in any one of configurations 1 to 7. (Composition 9) An imaging device according to any one of configurations 1 to 8, further comprising an actuator capable of driving the image sensor relative to the imaging device body in accordance with the information, in a plane parallel to the imaging surface of the image sensor. (Composition 10) An acquisition means for acquiring first information regarding the difference between the first no-parallax point and the second no-parallax point, The system further includes a third detection means for detecting second information relating to the inclination of the imaging device body with respect to the direction of gravity. The imaging apparatus according to any one of configurations 1 to 9, characterized in that the drive unit drives the first lens and the second lens according to the first information and the second information. (Composition 11) The image sensor includes a first image sensor and a second image sensor. The first image sensor receives light that has passed through the first lens, The imaging apparatus according to any one of configurations 1 to 10, characterized in that the second image sensor receives light that has passed through the second lens. (Composition 12) A drive device to which an imaging device can be attached and detached is provided, comprising: an imaging device body equipped with an image sensor; a first lens having a first no-parallax point; and a second lens having a second no-parallax point. A drive device characterized by having a drive unit that controls the attitude of the imaging device such that, when the imaging device is attached, the straight line connecting the first no-parallax point and the second no-parallax point is perpendicular to the direction of gravity.

[0034] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of its gist. (Explanation of symbols) 1. Camera body 111 Image sensor 21 The first lens 213 First No-Parallax Point 22 The second lens 223 Second No-Parallax Point 23 straight line 34. Second drive unit (drive unit) 41,42 Camera system (imaging device) 5. Lens rotation mechanism (drive mechanism)

Claims

1. An imaging device body equipped with an image sensor, A first lens having a first no-parallax point, A second lens with a second no-parallax point, An imaging apparatus characterized by having a drive unit that controls the positions of the first lens and the second lens such that the straight line connecting the first no-parallax point and the second no-parallax point is perpendicular to the direction of gravity.

2. The imaging apparatus according to claim 1, characterized in that the drive unit controls the positions of the first lens and the second lens by moving the imaging apparatus body, the first lens, and the second lens together as a single unit.

3. The imaging apparatus according to claim 1, characterized in that the drive unit controls the positions of the first lens and the second lens by moving them together with respect to the imaging apparatus body.

4. The system further includes a first detection means for detecting information regarding the positions of the first lens and the second lens. The imaging apparatus according to any one of claims 1 to 3, characterized in that the drive unit controls the positions of the first lens and the second lens according to the information.

5. The imaging apparatus according to any one of claims 1 to 3, further comprising an adjustment unit for adjusting a first image based on light that has passed through the first lens and a second image based on light that has passed through the second lens, in accordance with the aforementioned information.

6. The imaging apparatus according to any one of claims 1 to 3, characterized in that the first detection means detects information regarding the positional displacement of the first lens and the second lens in the direction of gravity based on corresponding feature points of a first image based on light that has passed through the first lens and a second image based on light that has passed through the second lens.

7. The imaging apparatus according to any one of claims 1 to 3, characterized in that the amount of drive of the drive unit during the shooting operation is determined based on the information acquired before the start of the shooting operation.

8. It further has a second detection means for detecting camera shake, Based on the information acquired before the start of the shooting operation, the target orientation of the imaging device body is determined. The imaging device according to any one of claims 1 to 3, characterized in that the amount of drive of the drive unit is determined to correct the camera shake and to hold the imaging device body in the target posture.

9. The imaging apparatus according to any one of claims 1 to 3, further comprising an actuator capable of driving the image sensor relative to the imaging apparatus body in accordance with the information, in a plane parallel to the imaging surface of the image sensor.

10. An acquisition means for acquiring first information regarding the difference between the first no-parallax point and the second no-parallax point, The system further includes a third detection means for detecting a second piece of information relating to the inclination of the imaging device body with respect to the direction of gravity. The imaging apparatus according to any one of claims 1 to 3, characterized in that the drive unit drives the first lens and the second lens according to the first information and the second information.

11. The image sensor includes a first image sensor and a second image sensor. The first image sensor receives light that has passed through the first lens, The imaging apparatus according to any one of claims 1 to 3, characterized in that the second image sensor receives light that has passed through the second lens.

12. A drive device to which an imaging device can be attached and detached is provided, comprising: an imaging device body equipped with an image sensor; a first lens having a first no-parallax point; and a second lens having a second no-parallax point. A drive device characterized by having a drive unit that controls the attitude of the imaging device such that, when the imaging device is attached, the straight line connecting the first no-parallax point and the second no-parallax point is perpendicular to the direction of gravity.

Images