Imaging device, imaging device operation method, and program

Abstract

To provide an imaging apparatus capable of performing appropriate electronic vibration absorption even if a frame rate is high, and to provide an operation method of the imaging apparatus.SOLUTION: Imaging apparatuses (10, 10A) include: an imaging sensor (20); a detection sensor detecting rotational shake in a roll direction; a mechanical vibration-proof mechanism (43) correcting rotational shake; and a processor (40). The processor (40) is configured so as to execute: mechanical vibration-proof processing using the mechanical vibration-proof mechanism (43); electronic vibration-proof processing correcting the rotational shake; drive processing driving the imaging sensor (20) by one mode selected from multiple modes including a first mode for capturing an animation at a first frame rate and a second mode for capturing an animation at a second frame rate; and correction shared processing allowing partial correction of the rotational shake to be shared by the mechanical vibration-proof processing and allowing partial correction of the rotational shake to be shared by the electronic vibration-proof processing, and the correction shared processing allows a correction sharing ratio between the mechanical vibration-proof processing and the electronic vibration-proof processing to differ between the first mode and the second mode.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The disclosed technology relates to an imaging device and a method of operating the same. [Background technology]

[0002] Patent Document 1 describes an image stabilization device that includes roll angle detection means for detecting a roll angle, rotational shake correction means for calculating rotational shake based on the roll angle and performing rotational shake correction by rotating an image sensor, translational shake detection means for detecting translational shake, and translational shake correction means for cutting out an area that has been subjected to translational shake correction from two images captured by the image sensor after rotational shake correction.

[0003] Patent Document 2 describes an image stabilization control device that acquires information about the shutter speed associated with image capture performed by an image capture device and controls a first correction means and a second correction means, each of which has a different correction method, to correct shake that occurs in the image capture device. The image stabilization control device assigns different shake corrections to the first correction means and the second correction means depending on the shutter speed information acquired.

[0004] Patent Document 3 describes an imaging device that captures an image using an exposure method in which the exposure timing for each pixel line is different, and includes a first correction means that electronically corrects image blur based on a shake signal that indicates shake of the device, and an RS distortion correction control unit that corrects distortion that occurs in the captured image due to the different exposure timing for each pixel line based on the shake signal.The imaging device determines the support state of the device based on the shake signal.If it is determined that the device is in a fixedly supported state, the imaging device expands the range of correction movement by the RS distortion correction control unit. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-242563 [Patent Document 2] Japanese Patent Application Publication No. 2019-117977 [Patent Document 3] Japanese Patent Application Laid-Open No. 2015-118147 Summary of the Invention [Problem to be solved by the invention]

[0006] One embodiment of the technique of the present disclosure provides an imaging device and an operation method thereof that are capable of appropriately performing electronic image stabilization even when the frame rate is high. [Means for solving the problem]

[0007] In order to achieve the above object, an imaging device of the present disclosure includes an imaging sensor, a detection sensor that detects rotational shake in a roll direction applied to a body that houses the imaging sensor, a mechanical vibration isolation mechanism that holds the imaging sensor rotatably in the roll direction and corrects rotational shake by rotating the imaging sensor, and a processor, wherein the processor is configured to execute mechanical vibration isolation processing using the mechanical vibration isolation mechanism, electronic vibration isolation processing that corrects rotational shake, a drive processing that drives the imaging sensor in one mode selected from a plurality of modes including a first mode that captures video at a first frame rate and a second mode that captures video at a second frame rate different from the first frame rate, and a correction allocation processing that allocates correction of part of the rotational shake to the mechanical vibration isolation processing and allocates correction of part of the rotational shake to the electronic vibration isolation processing, and the processor causes the correction allocation ratio between the mechanical vibration isolation processing and the electronic vibration isolation processing to differ between the first mode and the second mode in the correction allocation processing.

[0008] The second frame rate is preferably higher than the first frame rate, and the processor preferably sets the correction allocation rate of the electronic image stabilization processing in the second mode to be smaller than the correction allocation rate of the electronic image stabilization processing in the first mode in the correction allocation processing.

[0009] It is preferable that the processor sets the correction share of the electronic image stabilization process in the second mode to 0.

[0010] In the first mode, the processor preferably separates rotational shake into a first frequency component and a second frequency component having a higher frequency than the first frequency component, assigns correction of the first component obtained by multiplying the first frequency component by a coefficient α (0<α<1) corresponding to the correction allocation ratio of the electronic vibration isolation process to the electronic vibration isolation process, and assigns the second component obtained by adding the component obtained by multiplying the first frequency component by (1-α) to the second frequency component to the mechanical vibration isolation process.

[0011] It is preferable that the processor determines the correction share ratio by referencing a lookup table that records the relationship between the frame rate and the coefficient α, thereby obtaining the coefficient α that corresponds to the frame rate of the mode in which the image sensor is driven.

[0012] It is preferable that the coefficient α differs depending on the resolution of the image signal.

[0013] A lens can be attached to the main body, and it is preferable that the coefficient α differs depending on whether the lens attached to the main body has an optical shake correction function or the zoom magnification.

[0014] In the electronic image stabilization process, the processor preferably changes the recording area selected from within the imaging area of ​​the imaging sensor between multiple frames, making the recording area in the second mode larger than the recording area in the first mode.

[0015] It is preferable that the mechanical vibration isolation mechanism holds the imaging sensor so that it can translate in a transverse direction that intersects the rotation axis in the roll direction, the detection sensor detects translational shake in the transverse direction applied to the main body, and the processor corrects rotational shake and translational shake by rotating and translating the imaging sensor in the mechanical vibration isolation process, corrects rotational shake and translational shake in the electronic vibration isolation process, and in the correction sharing process, has the mechanical vibration isolation process share the responsibility of correcting a portion of the rotational shake, has the electronic vibration isolation process share the responsibility of correcting a portion of the rotational shake, and has the mechanical vibration isolation process share the responsibility of correcting a portion of the translational shake, and has the electronic vibration isolation process share the responsibility of correcting a portion of the translational shake.

[0016] The detection sensor detects angular shake around at least one axis intersecting the rotation axis in addition to rotational shake and translational shake, and when the processor determines the total shake as the result of adding the angular shake to the translational shake in the correction allocation process, it is preferable that the processor allocates the correction of part of the total shake to mechanical image stabilization processing and the correction of part of the total shake to electronic image stabilization processing.

[0017] In the first mode or the second mode, it is preferable that the correction share ratio for translational shake differs from the correction share ratio for rotational shake.

[0018] In the drive processing, the processor is preferably capable of executing a third mode in which a moving image at the first frame rate is generated by combining multiple frames captured at the second frame rate, and in the electronic vibration reduction processing, translational shake correction is performed on the multiple frames captured at the second frame rate, and rotational shake correction is performed on a composite frame formed by combining the multiple frames.

[0019] In the drive processing, the processor is preferably capable of switching to the second mode based on a user instruction while capturing video in the first mode, and in the correction sharing processing, when the second mode is selected, the correction sharing ratio for rotational shake in the electronic image stabilization processing is set to 0.

[0020] In the correction sharing process, the processor preferably determines the correction sharing ratio during live view imaging before moving image imaging based on the frame rate of the mode executed after live view imaging.

[0021] The operating method of an imaging device disclosed herein is a method for operating an imaging device that includes an imaging sensor, a detection sensor that detects rotational shake in the roll direction applied to a body that houses the imaging sensor, and a mechanical vibration isolation mechanism that holds the imaging sensor rotatably in the roll direction and corrects the rotational shake by rotating the imaging sensor, and includes performing mechanical vibration isolation processing using the mechanical vibration isolation mechanism, electronic vibration isolation processing that corrects rotational shake, a drive processing that drives the imaging sensor in one mode selected from a plurality of modes including a first mode that captures video at a first frame rate and a second mode that captures video at a second frame rate that is higher than the first frame rate, and a correction allocation processing that allocates part of the rotational shake correction to the mechanical vibration isolation processing and part of the rotational shake correction to the electronic vibration isolation processing, where the correction allocation ratio between the mechanical vibration isolation processing and the electronic vibration isolation processing differs between the first mode and the second mode. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 2 is a schematic perspective view showing an example of the front side of an imaging device. [Figure 2] FIG. 2 is a schematic perspective view showing an example of the rear side of the imaging device. [Figure 3] FIG. 1 is a diagram illustrating an example of the internal configuration of an imaging device. [Figure 4] FIG. 2 is a block diagram illustrating an example of a functional configuration of a processor. [Figure 5] FIG. 2 illustrates an example of the configuration of a first allocation processing unit. [Figure 6] 4 is a diagram schematically illustrating a process in which a first sharing processor generates a first component and a second component based on an angular velocity signal. FIG. [Figure 7A] FIG. 2 illustrates an example of the configuration of a second sharing processing unit. [Figure 7B] 2 is a diagram illustrating an example of the configuration of a first signal processing unit and a second signal processing unit. FIG. [Figure 8] 10A and 10B are diagrams illustrating an example of electronic image stabilization processing. [Figure 9] 10A and 10B are diagrams illustrating a change in a recording area in electronic image stabilization processing. [Figure 10]10A and 10B are diagrams illustrating an example of mechanical vibration isolation processing. [Figure 11] 10A and 10B are diagrams illustrating an example of the relationship between the coefficient and separation frequency related to correction of rotational shake, and the frame rate. [Figure 12] FIG. 10 is a diagram schematically illustrating a correction share ratio in the first mode. [Figure 13] FIG. 10 is a diagram schematically illustrating a correction share ratio in the second mode. [Figure 14] FIG. 10 is a diagram illustrating an example of an LUT. [Figure 15] 10 is a flowchart illustrating an example of a process for setting coefficients and separation frequencies. [Figure 16] 10A and 10B are diagrams illustrating the relationship between the size of a recording area and the angle of view. [Figure 17] 10A and 10B are diagrams illustrating an example of the relationship between the frame rate and the angle of view and coefficients related to correction of rotational shake. [Figure 18] FIG. 10 is a diagram showing an example of an LUT in which angles of view corresponding to frame rates are recorded. [Figure 19] FIG. 10 is a diagram showing an example of the relationship between a coefficient related to correction of rotational shake and recording resolution. [Figure 20] FIG. 10 is a diagram showing an example of a correction table that stores the relationship between zoom magnification and correction coefficient. [Figure 21] 13 is a flowchart illustrating the processing of a main control unit according to a seventh modified example. [Figure 22] 13 is a flowchart illustrating the processing of a main control unit according to an eighth modified example. [Figure 23] FIG. 13 is a diagram illustrating a third mode according to a ninth modified example. [Figure 24] FIG. 19 is a diagram showing an imaging device according to a tenth modified example. DETAILED DESCRIPTION OF THE INVENTION

[0023] An example of an embodiment of the technology of the present disclosure will be described with reference to the accompanying drawings.

[0024] First, the terms used in the following description will be explained.

[0025] In the following explanation, "IC" is an abbreviation for "Integrated Circuit." "CPU" is an abbreviation for "Central Processing Unit." "ROM" is an abbreviation for "Read Only Memory." "RAM" is an abbreviation for "Random Access Memory." "CMOS" is an abbreviation for "Complementary Metal Oxide Semiconductor."

[0026] "FPGA" is an abbreviation for "Field-Programmable Gate Array." "PLD" is an abbreviation for "Programmable Logic Device." "ASIC" is an abbreviation for "Application Specific Integrated Circuit." "OVF" is an abbreviation for "Optical View Finder." "EVF" is an abbreviation for "Electronic View Finder." "JPEG" is an abbreviation for "Joint Photographic Experts Group." DSP is an abbreviation for "Digital Signal Processor."

[0027] In this disclosure, "equal" includes not only being completely equal but also being substantially equal in the sense that it includes tolerances generally accepted in the technical field to which the technology of the present disclosure belongs. Also, in this disclosure, "orthogonal" includes not only being orthogonal at an angle of 90° but also being substantially orthogonal in the sense that it includes tolerances generally accepted in the technical field to which the technology of the present disclosure belongs.

[0028] (Configuration of imaging device) The technology of the present disclosure will be described using an interchangeable lens digital camera as an example of a first embodiment of an imaging device. Note that the technology of the present disclosure is not limited to interchangeable lens digital cameras, and can also be applied to digital cameras with an integrated lens.

[0029] FIG. 1 shows an example of the front side of an imaging device 10. As shown in FIG. 1, the imaging device 10 is an interchangeable lens digital camera. The imaging device 10 is composed of a main body 11 and an imaging lens 12 that is interchangeably attached to the main body 11. The imaging lens 12 is attached to the front surface 11C of the main body 11 via a camera-side mount 11A and a lens-side mount 12A (see FIG. 3). The imaging lens 12 is an example of a lens according to the technology of the present disclosure.

[0030] A dial 13 and a release button 14 are provided on the top surface of the main body 11. The dial 13 is operated when setting the operation mode, etc. The operation modes of the imaging device 10 include, for example, a still image capturing mode, a video capturing mode, and an image display mode. The release button 14 is operated by the user when starting to capture a still image or a video.

[0031] The main body 11 is also provided with a viewfinder 17. Here, the viewfinder 17 is a hybrid viewfinder (registered trademark). A hybrid viewfinder is a viewfinder that selectively uses, for example, an optical viewfinder (hereinafter referred to as "OVF") and an electronic viewfinder (hereinafter referred to as "EVF").

[0032] Z axis A shown in Figure 1 Z corresponds to the optical axis of the imaging lens 12. X-axis A X and Y-axis A Y are perpendicular to each other and are aligned with the Z axis A Z It is perpendicular to the X axis A. X and Y-axis A Y corresponds to the pitch axis and yaw axis according to the technology of the present disclosure. In the following description, the Z axis A Z The rotation direction around the X axis is called the roll direction. X The rotation direction around the Y axis is called the pitch direction. Y The rotation direction around the X axis is called the yaw direction. X The direction is called the X direction, and the Y axis A Y The direction is called the Y direction. Zis an example of a "rotation axis" according to the technology of the present disclosure. The X direction and the Y direction are examples of "intersecting directions intersecting the rotation axis" according to the technology of the present disclosure.

[0033] Fig. 2 shows an example of the rear side of the imaging device 10. As shown in Fig. 2, a display 15, instruction keys 16, and a finder eyepiece 18 are provided on the rear surface 11D of the main body 11. The display 15 displays an image based on an image signal obtained by imaging, various menu screens, and the like.

[0034] The instruction keys 16 accept various instructions. Here, "various instructions" include, for example, an instruction to display a menu screen from which various menus can be selected, an instruction to select one or more menus, an instruction to confirm the selection, an instruction to erase the selection, an instruction to switch to autofocus mode, manual focus mode, and frame-by-frame playback. In addition, the main body 11 is provided with a power switch, etc.

[0035] An optical image visible through the OVF and a live view image, which is an electronic image visible through the EVF, are selectively displayed on the viewfinder eyepiece 18. The user can observe the optical image or the live view image of the subject through the viewfinder eyepiece 18.

[0036] 3 shows an example of the internal configuration of the imaging device 10. The main body 11 and imaging lens 12 are electrically connected by electrical contacts 11B provided on the camera-side mount 11A coming into contact with electrical contacts 12B provided on the lens-side mount 12A.

[0037] The imaging lens 12 includes an objective lens 30, a focus lens 31, a rear end lens 32, and an aperture 33. Each of these components is aligned with the optical axis (i.e., the Z axis A) of the imaging lens 12. Z), the objective lens 30, the aperture 33, the focus lens 31, and the rear end lens 32 are arranged in this order from the objective side. The objective lens 30, the focus lens 31, and the rear end lens 32 constitute an imaging optical system. The type, number, and arrangement order of the lenses that constitute the imaging optical system are not limited to the example shown in FIG.

[0038] The imaging lens 12 also has a lens drive control unit 34 and a memory 35. The lens drive control unit 34 is configured with, for example, a CPU, RAM, and ROM. The lens drive control unit 34 is electrically connected to a processor 40 in the main body 11 via electrical contacts 12B and 11B.

[0039] The lens drive control unit 34 drives the focus lens 31 and the diaphragm 33 based on a control signal transmitted from the processor 40. The lens drive control unit 34 controls the drive of the focus lens 31 based on a control signal for focus control transmitted from the processor 40 in order to adjust the focus position of the imaging lens 12. The processor 40 performs focus control using, for example, a phase difference method.

[0040] The diaphragm 33 has an aperture whose diameter is variable around the optical axis. The lens drive control unit 34 controls the drive of the diaphragm 33 based on an aperture adjustment control signal sent from the processor 40 in order to adjust the amount of light incident on the light receiving surface 20A of the image sensor 20.

[0041] The memory 35 is a non-volatile memory such as a flash memory. The memory 35 stores, for example, lens data 35A for identifying the type of the imaging lens 12. This lens data 35A includes, for example, information indicating the focal length (i.e., zoom magnification) of the imaging lens 12.

[0042] The main body 11 includes an imaging sensor 20, a processor 40, an image processing unit 41, an operation unit 42, a mechanical vibration isolation mechanism 43, a shake detection sensor 44, a memory 45, and a display 15. The operation of the imaging sensor 20, the image processing unit 41, the operation unit 42, the mechanical vibration isolation mechanism 43, the shake detection sensor 44, and the display 15 is controlled by the processor 40. The processor 40 is configured, for example, with a CPU, RAM, ROM, etc. In this case, the processor 40 executes various processes based on an operating program 45A stored in the memory 45. The operating program 45A may be recorded and distributed on an external recording medium (not shown) and installed by the CPU from the recording medium. Alternatively, the operating program 45A may be stored in an externally accessible state on a server connected to a network, downloaded to the RAM or ROM by the CPU upon request, installed, and executed. The processor 40 may be configured as a collection of multiple IC chips.

[0043] The image sensor 20 is, for example, a CMOS image sensor. The image sensor 20 is aligned along a Z axis A Z is perpendicular to the light receiving surface 20A and is aligned with the Z axis A Z is arranged so as to be located at the center of the light receiving surface 20A. Light that has passed through the imaging lens 12 is incident on the light receiving surface 20A. A plurality of pixels that generate image signals by performing photoelectric conversion are formed on the light receiving surface 20A. The imaging sensor 20 performs photoelectric conversion on the light that has entered each pixel, thereby generating and outputting an image signal.

[0044] The image sensor 20 is held by a mechanical vibration isolation mechanism 43. The mechanical vibration isolation mechanism 43 supports the image sensor 20 along the X-axis A. X and Y-axis A Y The actuator is held so as to be translatable in the vertical direction and rotatable in the roll direction.

[0045] The shake detection sensor 44 detects shake applied to the main body 11 that houses the imaging sensor 20. The shake detection sensor 44 is, for example, a five-axis shake detection sensor that detects shake in the roll direction, yaw direction, pitch direction, X direction, and Y direction. Hereinafter, shake in the roll direction will be referred to as rotational shake, shake in the yaw direction and pitch direction will be referred to as angular shake, and shake in the X direction and Y direction will be referred to as translational shake.

[0046] The shake detection sensor 44 is composed of, for example, a gyro sensor 44A and an acceleration sensor 44B (see FIG. 4). The gyro sensor 44A detects rotational shake and angular shake. The acceleration sensor 44B detects translational shake. The shake detection sensor 44 is an example of a detection sensor according to the technology of the present disclosure.

[0047] The image processing unit 41 is configured by, for example, a DSP. The image processing unit 41 performs various image processes on the image signal to generate image data in a predetermined file format (for example, JPEG format, etc.).

[0048] The display 15 displays images based on the image data generated by the image processing unit 41. The images include still images, videos, and live view images. The live view images are images that are displayed in real time on the display 15 by sequentially outputting the image data generated by the image processing unit 41 to the display 15.

[0049] The image data generated by the image processing unit 41 can be stored in an internal memory (not shown) built into the main body 11 or in a storage medium (for example, a memory card) that is detachable from the main body 11.

[0050] The operation unit 42 includes the aforementioned dial 13, release button 14, and command keys 16 (see FIGS. 1 and 2). The processor 40 controls each part in the main body 11 and the lens drive control unit 34 in the imaging lens 12 in response to the operation of the operation unit 42.

[0051] Furthermore, when the imaging lens 12 is connected to the body 11, the processor 40 acquires the lens data 35A stored in the memory 35 via the lens drive control unit .

[0052] A camera-side mount 11A is provided on the front surface 11C of the main body 11. A lens-side mount 12A is provided on the rear end side of the imaging lens 12. The imaging lens 12 is connected to the main body 11 by attaching the lens-side mount 12A to the camera-side mount 11A.

[0053] The light receiving surface 20A of the imaging sensor 20 is exposed through an opening in the camera-side mount 11A. When the imaging lens 12 is attached to the main body 11, the imaging lens 12 forms an image of light from a subject on the light receiving surface 20A of the imaging sensor 20. The imaging sensor 20 captures an image of the light formed on the light receiving surface 20A, thereby generating and outputting an image signal.

[0054] Fig. 4 shows an example of the functional configuration of processor 40. Processor 40 realizes various functional units by executing processes in accordance with operating program 45A stored in memory 45. As shown in Fig. 4, for example, processor 40 realizes a main control unit 50, an imaging control unit 51, a mechanical image stabilization control unit 52, an electronic image stabilization control unit 53, and a correction sharing processing unit 54.

[0055] The main control unit 50 performs overall control of the operation of the image sensor 20 based on instruction signals input from the operation unit 42. The image capture control unit 51 controls the image capture operation of the image sensor 20. The image capture control unit 51 drives the image sensor 20 in a still image capture mode or a video image capture mode.

[0056] The video imaging mode includes multiple modes with different frame rates FR. The multiple modes include a first mode in which video imaging is performed at a first frame rate FR1 and a second mode in which video imaging is performed at a second frame rate FR2 different from the first frame rate FR1. In this embodiment, the second frame rate FR2 is higher than the first frame rate FR1 (i.e., FR2>FR1). For example, FR1=60 fps and FR2=120 fps.

[0057] The user can select between a still image capture mode and a video capture mode, and can select a frame rate FR in the video capture mode, by operating the operation unit 42. The main control unit 50 supplies the frame rate FR selected using the operation unit 42 to the imaging control unit 51. That is, the imaging control unit 51 executes a drive process to drive the imaging sensor 20 in an arbitrary mode selected from a plurality of modes with different frame rates FR.

[0058] The mechanical vibration isolation control unit 52 drives the mechanical vibration isolation mechanism 43 based on instructions from the correction sharing processing unit 54, thereby executing mechanical vibration isolation processing that corrects a part of the rotational shake and translational shake.

[0059] The electronic stabilization control unit 53 controls the image processing unit 41 based on instructions from the correction sharing processing unit 54 to perform electronic stabilization processing that corrects a portion of rotational shake and translational shake. As will be described in detail later, the electronic stabilization processing corrects a portion of rotational shake and translational shake by changing the recording area for recording image signals from the imaging area of ​​the image sensor 20 between frames. The image processing unit 41 generates image data by image processing the signal from the image signal that corresponds to the recording area. Changing the recording area includes rotation and translation of the recording area. Therefore, generating image data requires arithmetic processing such as projective transformation or affine transformation of the signal included in the recording area, which takes time.

[0060] The correction sharing processor 54 executes a correction sharing process in which the mechanical vibration reduction process is responsible for correcting a portion of the rotational shake and translational shake, and the electronic vibration reduction process is responsible for correcting a portion of the rotational shake and translational shake. In other words, the technique of the present disclosure uses both the mechanical vibration reduction process and the electronic vibration reduction process to reduce degradation of image quality caused by shake applied to the main body 11.

[0061] The gyro sensor 44A is an angular velocity sensor that detects rotational shake and angular shake, and outputs an angular velocity signal as a detected value. R and angular velocity signal B, which represents the angular vibration. Y ,B P Outputs angular velocity signal B. Y represents the angular vibration in the yaw direction. P represents the angular deviation in the pitch direction.

[0062] The acceleration sensor 44B outputs an acceleration signal as a detected value of translational shake. The acceleration sensor 44B outputs an acceleration signal B SX and the acceleration signal B, which represents the translational shake in the Y direction. SY and is output.

[0063] Angular velocity signal B output from gyro sensor 44A R ,B Y ,B P is input to the correction sharing processing unit 54 via an A / D converter, an amplifier, etc. (not shown). SX ,B SY is input to the correction sharing processing unit 54 via an A / D converter, an amplifier, etc. (not shown).

[0064] In this embodiment, the detection axes of the shake are five axes, namely, the roll direction, the yaw direction, the pitch direction, the X direction, and the Y direction, whereas the correction axes of the shake are three axes, namely, the roll direction, the X direction, and the Y direction. Therefore, for the yaw direction and the pitch direction, the angular velocity signal B Y ,B PIn this embodiment, angular shake in the yaw direction is corrected by being included in translational shake in the X direction, and angular shake in the pitch direction is corrected by being included in translational shake in the Y direction.

[0065] The main control unit 50 determines coefficients α1 and α2 corresponding to the correction allocation ratio of the electronic image stabilization process and a separation frequency f for frequency separation of rotational shake and angular shake. c1 ,f c2 and are set in the correction sharing processor 54. The coefficient α1 represents the correction sharing ratio of rotational shake in the electronic image stabilization process. The coefficient α2 represents the correction sharing ratio of translational shake in the electronic image stabilization process. The separation frequency f c1 is the reference frequency for frequency separation of rotational vibration. Separation frequency f c2 is a reference frequency for frequency separation of translational blur. Here, the coefficient α1 is a value within the range of 0≦α1≦1. The coefficient α2 is a value within the range of 0≦α2≦1. In the first mode with a high frame rate, which will be described later, α1 is a value within the range of 0<α1<1. The coefficient α2 is a value within the range of 0<α2<1.

[0066] The correction sharing processing unit 54 calculates the angular velocity signal B R , coefficient α1, and separation frequency f c1 Based on this, a first rotation amount for correcting a part of the rotational shake by electronic image stabilization processing and a second rotation amount for correcting a part of the rotational shake by mechanical image stabilization processing are calculated.

[0067] The correction sharing processing unit 54 also calculates the acceleration signal B SX ,B SY , angular velocity signal B Y ,B P , coefficient α2, and separation frequency f c2 Based on this, a first shift amount for correcting a part of the translational shake by electronic image stabilization processing and a second shift amount for correcting a part of the translational shake by mechanical image stabilization processing are calculated.

[0068] The memory 45 stores a look-up table (hereinafter referred to as LUT) 55. The LUT 55 stores a frame rate FR, coefficients α1 and α2, and a separation frequency fc1 ,f c2 The main control unit 50 refers to the LUT 55 to determine the coefficients α1 and α2 and the separation frequency f corresponding to the frame rate FR of the mode selected via the operation unit 42. c1 ,f c2 The main control unit 50 obtains the obtained coefficients α1, α2 and separation frequency f c1 ,f c2 is set in the correction sharing processor 54.

[0069] (Configuration of correction sharing processing unit) 5 to 7 illustrate an example of the configuration of the correction sharing processor 54. The correction sharing processor 54 is made up of a first sharing processor 54A that calculates the amount of rotation for rotational shake correction shown in Fig. 5, and a second sharing processor 54B that calculates the amount of shift for translational shake correction shown in Fig. 7.

[0070] 5 shows an example of the configuration of a first allocation processing unit 54A related to correction of rotational shake. The first allocation processing unit 54A has a signal processing unit 62, a frequency separation unit 60, a distribution unit 61, a first rotation amount calculation unit 63A, and a second rotation amount calculation unit 63B.

[0071] The signal processing unit 62 outputs an angular velocity signal B R The correction amount V R The signal processing unit 62 includes, for example, a subtractor 62A, a high-pass filter (hereinafter referred to as HPF) 62B, a multiplier 62C, and an integrator 62D.

[0072] The subtractor 62A subtracts the angular velocity signal B R to zero point correction value Z R Offset correction is performed by subtracting the zero point correction value Z. R is the output value from the gyro sensor 44A when the gyro sensor 44A is stationary. The HPF 62B removes the remaining DC component that could not be completely removed by the offset correction using the subtractor 62A.

[0073] The multiplier 62C applies a gain value G to the output signal from the HPF 62B.R Gain correction is performed by multiplying the gain value G R is a value determined by the focal length of the imaging lens 12 and / or the sensitivity of the gyro sensor 44A. In the case of rotational shake, the gain value G R does not depend on the focal length of the imaging lens 12. The integrator 62D integrates the output signal from the multiplier 62C to obtain a correction amount V R Generate and output

[0074] The frequency separation unit 60 calculates the correction amount V output from the signal processing unit 62. R , the low frequency component V RL and the high frequency component V RH and the separated low frequency component V RL and the high frequency component V RH The frequency separation unit 60 is configured, for example, with a low-pass filter (hereinafter referred to as LPF) 60A and a subtractor 60B. The LPF 60A receives the separation frequency f c1 is set. Separation frequency f c1 corresponds to the cutoff frequency of the LPF 60A. The cutoff frequency is, for example, the frequency at which the gain drops by 3 dB from the flat portion of the passband of the frequency characteristic.

[0075] The LPF60A calculates the input correction amount V R Among them, the separation frequency f c1 The smaller frequency components are called low frequency components V RL The subtractor 60B passes the correction amount V input to the LPF 60A as R The low frequency component V output from LPF60A RL By subtracting the high frequency component V RH Generates the low frequency component V RL is an example of the first frequency component of the technique of the present disclosure. RH is an example of the second frequency component of the technique of the present disclosure. Note that the frequency separating section 60 is not limited to a low-pass filter, and can also be configured with a high-pass filter and a subtractor.

[0076] The dividing unit 61 receives the low frequency component V RL and high frequency component V RH is input to the distribution unit 61. A coefficient α1 input from the main control unit 50 is set in the distribution unit 61. Based on the coefficient α1, the distribution unit 61 divides the low frequency component V RL A part of the high frequency component V RH Specifically, the distribution unit 61 distributes the coefficient α1 to the low-frequency component V RL The first component V is obtained by multiplying RL1 The distributor 61 also generates the low frequency component V RL The component obtained by multiplying by (1-α1) is the high frequency component V RH The second component V is obtained by adding RH1 Generate.

[0077] Specifically, the dividing unit 61 includes a multiplier 61A, a subtractor 61B, a multiplier 61C, and an adder 61D. The multiplier 61A multiplies the low-frequency component V RL The first component V is obtained by multiplying by the coefficient α1. RL1 The subtractor 61B subtracts the coefficient α1 from the constant 1 to generate the value of (1-α1). The multiplier 61C multiplies the low-frequency component V RL By multiplying by (1-α1), the additive component V RL2 The adder 61D generates the high frequency component V RH Add component V to RL2 The second component V is obtained by adding RH1 Generate.

[0078] From the distribution section 61, the first component V RL1 and the second component V RH1 The first component V RL1 and the second component V RH1 are input to the first rotation amount calculation unit 63A and the second rotation amount calculation unit 63B, respectively.

[0079] The first rotation amount calculation unit 63A calculates the first component V RL1The second rotation amount calculation unit 63B calculates the first rotation amount based on the second component V RH1 The second rotation amount is calculated based on the above, and the calculated second rotation amount is input to the mechanical vibration isolation control unit 52.

[0080] The electronic image stabilization control unit 53 rotates the recording area by an angle corresponding to the first rotation amount by controlling the image processing unit 41. The mechanical image stabilization control unit 52 rotates the image sensor 20 in the roll direction by an angle corresponding to the second rotation amount by controlling the mechanical image stabilization mechanism 43.

[0081] FIG. 6 shows the first allocation processing unit 54A calculating the correction amount V R Based on the first component V RL1 and the second component V RH1 6 shows the process of generating the correction amount V when α1=0.8. R , low frequency component V RL , high frequency component V RH , the first component V RL1 , and the second component V RH1 6 shows an example. The vertical axis of the graph in FIG. 6 represents the amount of correction (angle) for correcting rotational shake.

[0082] 7A shows an example of the configuration of the second allocation processing unit 54B related to translational shake correction. The second allocation processing unit 54B has first signal processing units 72 and 82, second signal processing units 73 and 83, frequency separation units 70 and 80, distribution units 71 and 81, a first shift amount calculation unit 75, a second shift amount calculation unit 85, and adders 74 and 84.

[0083] The first signal processing unit 72 outputs an acceleration signal B SX The correction amount V represents the position information. SX The second signal processor 73 converts the angular velocity signal B into a signal representing the angular shake in the yaw direction and outputs it. Y The correction amount V Y and output it.

[0084] The frequency separation unit 70 receives the correction amount V output from the first signal processing unit 72.SX The correction amount V output from the second signal processing unit 73 Y The total correction amount V obtained by adding S1 is input. Correction amount V SX Correction amount V Y The addition of the above is performed by an adder 74. Hereinafter, the blur obtained by adding the angular blur to the translational blur will be referred to as a combined blur.

[0085] The frequency separation unit 70 calculates a combined correction amount V for correcting combined shake in the X direction and the yaw direction. S1 , the low frequency component V S1L and the high frequency component V S1H and the separated low frequency component V S1L and the high frequency component V S1H The frequency separation unit 70 is composed of an LPF 70A and a subtractor 70B. The LPF 70A receives the separation frequency f c2 is set. Separation frequency f c2 corresponds to the cutoff frequency of the LPF 70 A. The function of the frequency separating section 70 is similar to that of the frequency separating section 60 described above.

[0086] The dividing unit 71 receives the low frequency component V output from the frequency separating unit 70. S1L and high frequency component V S1H is input to the distribution unit 71. A coefficient α2 input from the main control unit 50 is set in the distribution unit 71. Based on the coefficient α2, the distribution unit 71 divides the low frequency component V S1L A part of the high frequency component V S1H Specifically, the distribution unit 71 distributes the coefficient α2 to the low-frequency component V S1L The first component V is obtained by multiplying S1L1 The distributor 71 also generates the low frequency component V S1L The component multiplied by (1-α2) is the high frequency component V S1H The second component V is obtained by adding S1H1 Generate.

[0087] The distribution unit 71 includes a multiplier 71A, a subtractor 71B, a multiplier 71C, and an adder 71D. The specific configuration of the distribution unit 71 is similar to that of the distribution unit 61 described above.

[0088] From the distributor 71, the first component V S1L1 and the second component V S1H1 The first component V S1L1 and the second component V S1H1 are input to the first shift amount calculation unit 75 and the second shift amount calculation unit 85, respectively.

[0089] The first signal processing unit 82 outputs an acceleration signal B SY The correction amount V represents the position information. SY The second signal processor 83 converts the angular velocity signal B into a signal representing the angular vibration in the pitch direction and outputs it. P The correction amount V P and output it.

[0090] The frequency separation unit 80 receives the correction amount V output from the first signal processing unit 82. SY The correction amount V output from the second signal processing unit 83 P The total correction amount V obtained by adding S2 is input. Correction amount V SY Correction amount V P The addition is performed by an adder 84.

[0091] The frequency separation unit 80 calculates a combined correction amount V for correcting the combined shake in the Y direction and the pitch direction. S2 , the low frequency component V S2L and the high frequency component V S2H and the separated low frequency component V S2L and the high frequency component V S2H The frequency separation unit 80 is composed of an LPF 80A and a subtractor 80B. The LPF 80A receives the separation frequency f c2 is set. Separation frequency f c2 corresponds to the cutoff frequency of the LPF 80A. The operation of the frequency separator 80 is the same as that of the frequency separator 60 described above. In this embodiment, the frequency separator 80 has the same separation frequency f c2However, a separation frequency different from that of the frequency separator 70 may be set.

[0092] The dividing unit 81 receives the low frequency component V S2L and high frequency component V S2H is input to the distribution unit 81. A coefficient α2 input from the main control unit 50 is set in the distribution unit 81. Based on the coefficient α2, the distribution unit 81 divides the low frequency component V S2L A part of the high frequency component V S2H Specifically, the distribution unit 81 distributes the coefficient α2 to the low-frequency component V S2L The first component V is obtained by multiplying S2L1 and generates the low frequency component V S2L The component multiplied by (1-α2) is the high frequency component V S2H The second component V is obtained by adding S2H1 Generate.

[0093] The distribution unit 81 has a multiplier 81A, a subtractor 81B, a multiplier 81C, and an adder 81D. The specific configuration of the distribution unit 81 is similar to that of the above-mentioned distribution unit 61. In this embodiment, the same coefficient α2 as that of the distribution unit 71 is set in the distribution unit 81, but a coefficient different from that of the distribution unit 71 may also be set.

[0094] The first component V S2L1 and the second component V S2H1 The first component V S2L1 and the second component V S2H1 are input to the first shift amount calculation unit 75 and the second shift amount calculation unit 85, respectively.

[0095] The first shift amount calculation unit 75 calculates the first component V S1L1 ,V S2L1 The second shift amount calculation unit 85 calculates a first shift amount representing the shift amount in the X direction and the Y direction based on the second component V S1H1 ,V S2H1 The second shift amount representing the shift amount in the X direction and the Y direction is calculated based on the above, and the calculated second shift amount is input to the mechanical vibration isolation control unit 52.

[0096] The various signal waveforms generated by the second sharing processing unit 54B are similar to the signal waveforms shown in FIG.

[0097] 7B shows an example of the configuration of the first signal processing units 72, 82 and the second signal processing units 73, 83. The first signal processing unit 72 includes, for example, a subtractor 72A, an HPF 72B, a multiplier 72C, a first integrator 72D, and a second integrator 72E. The first signal processing unit 72 outputs an acceleration signal B SX into position information, the sensor 72 has two integrators, a first integrator 72D and a second integrator 72E.

[0098] Similar to the signal processing unit 62 shown in FIG. 5, the subtractor 72A subtracts the acceleration signal B SX to zero point correction value Z SX Offset correction is performed by subtracting the zero point correction value Z. SX is the output value from the acceleration sensor 44B when the acceleration sensor 44B is stationary. The HPF 72B removes the DC component remaining after the offset correction by the subtractor 72A. The multiplier 72C applies a gain value G to the output signal from the HPF 72B. SX Gain correction is performed by multiplying the gain value G SX is a value determined by the focal length of the imaging lens 12 and / or the sensitivity of the acceleration sensor 44B.

[0099] The first integrator 72D outputs an integral value obtained by integrating the output signal from the multiplier 72C. The second integrator 72E integrates the integral value output from the first integrator 72D to obtain a correction amount V SX Generate and output

[0100] The second signal processing unit 73 includes, for example, a subtractor 73A, an HPF 73B, a multiplier 73C, and an integrator 73D. The configuration of the second signal processing unit 73 is similar to the configuration of the signal processing unit 62 shown in FIG.

[0101] The first signal processing unit 82 has, for example, a subtractor 82A, an HPF 82B, a multiplier 82C, a first integrator 82D, and a second integrator 82E. The configuration of the first signal processing unit 82 is similar to the configuration of the first signal processing unit 72.

[0102] The second signal processing unit 83 includes, for example, a subtractor 83A, an HPF 83B, a multiplier 83C, and an integrator 83D. The configuration of the second signal processing unit 83 is similar to the configuration of the signal processing unit 62 shown in FIG.

[0103] (Methods of anti-vibration treatment) FIG. 8 illustrates an example of electronic image stabilization processing. In FIG. 8, reference numeral 20B denotes an imaging area on the light receiving surface 20A of the image sensor 20. The imaging area 20B is, for example, an effective pixel area. Reference numeral RA denotes a recording area for extracting an image signal from the imaging area 20B and recording it as image data. The image data acquired from the imaging area 20B is recorded in, for example, memory 45.

[0104] The electronic image stabilization control unit 53 shifts and / or rotates the recording area RA within the imaging area 20B. Specifically, the electronic image stabilization control unit 53 shifts the recording area RA in the X and Y directions, and rotates the recording area RA in the roll direction. The recording area RA can be rotated in the X direction by ±L. X1 and can be shifted by ±L in the Y direction. Y1 8 indicates the recording area RA rotated by θ1 in the roll direction.

[0105] The electronic stabilization control unit 53 corrects a part of the rotational shake and translational shake by changing the recording area RA selected from within the imaging area 20B between multiple frames. For example, as shown in Fig. 9, the electronic stabilization control unit 53 changes the recording area RA for each frame, that is, rotates and shifts the recording area RA.

[0106] The electronic image stabilization control unit 53 corrects a part of the rotational shake and translational shake by rotating and shifting the recording area RA based on the first rotation amount and first shift amount described above.

[0107] FIG. 10 illustrates an example of mechanical vibration isolation processing. Mechanical vibration isolation mechanism 43 has a movable part 43A. Image sensor 20 is disposed in the center of movable part 43A. Four coils 43B are disposed around image sensor 20 on movable part 43A. Movable part 43A is driven by electromagnetic force between yokes (not shown) provided on a fixed part fixed to main body 11 (see FIG. 3) and coils 43B. One yoke is provided for each coil 43B.

[0108] The mechanical vibration isolation control unit 52 (see FIG. 4) shifts and / or rotates the movable unit 43A by controlling the current flowing through the four coils 43B. Specifically, the mechanical vibration isolation control unit 52 shifts the movable unit 43A in the X and Y directions, and also enables the movable unit 43A to rotate in the roll direction.

[0109] 10, the symbol RM indicates the movable range within which the image sensor 20 can be shifted. The movable range RM is determined by the design of the mechanical vibration isolation mechanism 43. The image sensor 20 can be moved in the X direction by ±L. X2 and can be shifted by ±L in the Y direction. Y2 The image sensor 20 can be shifted by ±θ2 in the roll direction. The two-dot chain line in Fig. 10 indicates the movable part 43A rotated by θ2 in the roll direction.

[0110] The mechanical vibration isolation control section 52 corrects a part of the rotational shake and translational shake by rotating and shifting the movable section 43A based on the second rotation amount and second shift amount described above.

[0111] The coefficient α1 (see FIG. 5) described above is determined based on, for example, a reference coefficient κ1 expressed by the following equation (1). κ1=θ1 / (θ1+θ2) (1)

[0112] The reference coefficient κ1 represents the ratio of the amount of rotational shake compensation that can be corrected by electronic vibration reduction alone to the amount of rotational shake compensation that can be corrected by electronic vibration reduction and mechanical vibration reduction. The coefficient α1 is determined by multiplying the reference coefficient κ1 by parameters related to the frame rate FR, etc.

[0113] The coefficient α2 (see FIG. 7) described above is determined based on, for example, a reference coefficient κ1 expressed by the following equation (2). κ2=L x1 / (L x1 +L x2 ) ···(2) where L x1 =L Y1 , and L x2 =L Y2 L x1 is expressed in units of length (e.g., millimeters), while L x2 is expressed in units of pixel pitch (for example, the distance between pixel centers). Therefore, the calculation of the above formula (2) is x2 This can be done after converting it into a unit of length.

[0114] The reference coefficient κ2 represents the ratio of the amount of translational shake compensation that can be corrected by electronic vibration reduction alone to the amount of translational shake compensation that can be corrected by electronic vibration reduction and mechanical vibration reduction. The coefficient α2 is determined by multiplying the reference coefficient κ2 by parameters related to the frame rate FR, etc.

[0115] (Rotational shake correction correction ratio) FIG. 11 shows the coefficient α1 and separation frequency f c1and the frame rate FR. Correcting rotational shake using electronic stabilization processing requires calculations such as pixel interpolation, which means that the computational load is higher than correcting translational shake. Furthermore, the coefficient α1 indicates the correction share of the electronic stabilization processing, so the larger the coefficient α1, the higher the computational load for correcting rotational shake using electronic stabilization processing. If the frame rate FR is increased while keeping the coefficient α1 constant, there is a possibility that rotational shake correction will not be completed within one frame period. Therefore, it is preferable to set the coefficient α1 to be smaller as the frame rate FR increases. Furthermore, it is preferable to determine the coefficient α1 based on the relationship between the rotational shake correction time and the frame rate FR so that rotational shake correction is completed within one frame period.

[0116] Although it is possible to shorten the time required to correct rotational shake by increasing the computing power of the image processing unit 41, increasing the computing power of the image processing unit 41 is not desirable from the viewpoint of increasing the cost of the image processing unit 41 and increasing power consumption.

[0117] Since electronic image stabilization is a process for correcting blur between frames, it is theoretically unable to correct blur higher than half the frame rate FR based on the sampling theorem. c1 It is preferable to set the separation frequency f to a value equal to or less than half the frame rate FR. c1 is set to a value half the frame rate FR.

[0118] For example, the coefficient α1 is set to be proportional to the frame rate FR and the separation frequency f c1 is set to be inversely proportional to the frame rate FR.

[0119] Coefficient α2 and separation frequency f for translational blur correction c2The same applies to the setting of . However, as mentioned above, since the calculation load for correcting translational shake is lower than that for correcting rotational shake, the coefficient α2 may be a different value from the coefficient α1 for correcting rotational shake. In other words, the correction ratio for translational shake may be different from the correction ratio for rotational shake. For example, at the same frame rate FR, α2 > α1. Note that, c2 is the separation frequency f for the correction of rotational vibration c1 The same value as f c2 =f c1 may be.

[0120] 12 and 13 schematically show the correction allocation ratios in a first mode and a second mode, which have different frame rates FR. The first mode shown in Fig. 12 is a video imaging mode in which imaging is performed at a first frame rate RF1 (e.g., RF1 = 60 fps). The second mode shown in Fig. 13 is a video imaging mode in which imaging is performed at a second frame rate RF2 (e.g., RF2 = 120 fps). As shown in Figs. 12 and 13, the correction allocation ratio for electronic image stabilization processing in the second mode is smaller than the correction allocation ratio for electronic image stabilization processing in the first mode.

[0121] As mentioned above, the coefficient α1 is proportional to the frame rate FR and the separation frequency f c1 is inversely proportional to the frame rate FR, the coefficient α1 and the separation frequency f c1 The product of (corresponding to the area of ​​the electronic vibration isolation shown in FIGS. 12 and 13) is equal in the first mode and the second mode.

[0122] 14 shows an example of the LUT 55. The LUT 55 contains the frame rate FR, the coefficients α1 and α2, and the separation frequency f c1 ,f c2 The relationship is recorded.

[0123] FIG. 15 shows the coefficients α1 and α2 and the separation frequency f c1 ,f c210 is a flowchart illustrating the setting process of the video capture mode setting unit 50. When one video capture mode is selected by operating the operation unit 42, the main control unit 50 acquires information about the selected video capture mode (hereinafter referred to as capture mode information) (step S10). This capture mode information includes the frame rate FR of the selected capture mode.

[0124] Next, the main control unit 50 refers to the LUT 55 stored in the memory 45 (step S11) to determine the coefficients α1 and α2 and the separation frequency f corresponding to the frame rate FR included in the imaging mode information. c1 ,f c2 (Step S12) That is, the main control unit 50 acquires the coefficients α1 and α2 corresponding to the frame rate FR by referring to the LUT 55, and determines the correction allocation ratio.

[0125] The main control unit 50 calculates the obtained coefficients α1, α2 and the separation frequency f c1 ,f c2 in the correction sharing processing unit 54 (step S13). Then, when an instruction to perform video imaging is given by operating the operation unit 42, the main control unit 50 starts the operation of electronic image stabilization and mechanical image stabilization (step S14).

[0126] As described above, according to the technology of the present disclosure, the higher the frame rate, the smaller the correction share of electronic image stabilization, so that electronic image stabilization can be performed appropriately even when the frame rate is high. c1 The electronic vibration isolation and mechanical vibration isolation regions are clearly separated by this. However, Figure 12 is merely a schematic diagram. For example, the separation frequency f c1 is not limited to a constant frequency, but may be a function of the coefficient α.

[0127] Various modifications of the first embodiment will be described below.

[0128] [First Modification] In the first embodiment, the coefficient α1, which corresponds to the correction share of electronic image stabilization for rotational shake, is changed according to the frame rate FR, but in the first modified example, when a specific video shooting mode is selected, the coefficient α1 is set to 0. For example, when a first mode and a second mode with a higher frame rate FR than the first mode are selectable, the coefficient α1 is set to 0 in response to the selection of the second mode. As a result, in the second mode, the correction share of electronic image stabilization processing for rotational shake is set to 0, and rotational shake correction is entirely handled by the mechanical image stabilization processing.

[0129] The same applies to translational shake, and when the second mode is selected, the coefficient α2 may be set to 0. As a result, in the second mode, the correction share of the electronic image stabilization process for translational shake is set to 0, and all translational shake correction is handled by the mechanical image stabilization process.

[0130] [Second Modification] In the first embodiment, the size of the recording area RA (see FIG. 8) is constant, but in the second modified example, the size of the recording area RA is changed according to the frame rate FR. As shown in FIG. 16, the size of the recording area RA is expressed as the length D of the diagonal of the recording area RA. The length D corresponds to the angle of view of the captured image. Hereinafter, the size of the recording area RA will be referred to as the angle of view D.

[0131] For example, as shown in FIG. 17, the angle of view D increases as the frame rate FR increases. That is, the recording area RA in the second mode is made larger than the recording area RA in the first mode. This is because the coefficients α1 and α2 decrease as the frame rate FR increases, thereby making it possible to reduce the margin M (see FIG. 16) required for electronic image stabilization processing. The margin M is a surplus area other than the recording area RA within the imaging area 20B. Note that the degree of change in the angle of view D and the coefficient α with respect to changes in the frame rate FR is not limited to the example of FIG. 17.

[0132] 18, the angle of view D corresponding to the frame rate FR may be recorded in the LUT 55. The main control unit 50 may acquire the angle of view D corresponding to the frame rate FR by referring to the LUT 55, and set the acquired angle of view D in the electronic image stabilization control unit 53.

[0133] According to this modification, it is possible to perform appropriate electronic image stabilization even when the frame rate is high, and to maintain the size of the angle of view at a certain level or more.

[0134] [Third Modification] In the first embodiment, the coefficient α1 is constant regardless of the resolution of the image signal, but in the third modified example, the coefficient α1 is changed according to the resolution of the image signal. For example, the coefficient α1 is changed according to the recording resolution when the image signal in the recording area RA is recorded as image data. For example, the recording resolution is controlled by the amount of thinning when generating image data from the image signal in the recording area RA. The recording resolution can be set by the user operating the operation unit 42.

[0135] For example, as shown in Fig. 19, the higher the recording resolution, the smaller the coefficient α1 is set. This is because the higher the recording resolution, the larger the amount of data required for the calculation of rotational shake correction by electronic image stabilization processing, and the higher the correction calculation load. As such, when the recording resolution is high, the correction calculation load increases, so in order to reduce the correction calculation load, it is preferable to reduce the coefficient α1, which corresponds to the correction allocation ratio for rotational shake in electronic image stabilization.

[0136] In this modified example, a plurality of LUTs 55 in which a different coefficient α1 is recorded for each settable recording resolution may be created, and the created plurality of LUTs 55 may be stored in the memory 45. The main control unit 50 may refer to the LUT 55 corresponding to the recording resolution set by the operation unit 42.

[0137] The same applies to translational shake, and the coefficient α2 may be changed according to the resolution of the image signal (for example, recording resolution).

[0138] [Fourth Modification] In the fourth modification, the coefficient α1 and / or the coefficient α2 are changed according to the optical zoom magnification or the electronic zoom magnification of the imaging lens 12 attached to the body 11.

[0139] The optical zoom magnification is determined according to the position of the zoom lens inside the lens barrel (zoom position). Since the degree of vignetting and reduction in peripheral resolution in the shooting angle of view differs depending on the zoom position, it is necessary to set the range of motion of the mechanical vibration isolation mechanism 43 for each zoom position. In FIG. 10, as a general trend, the range of motion of the mechanical vibration isolation mechanism 43 becomes smaller as the optical zoom magnification increases (L X2 ,L Y2 becomes smaller), so the coefficient α2 becomes smaller. As a result, the share of electronic image stabilization increases. Similarly, if the range of motion of the mechanical image stabilization mechanism 43 is limited due to a change in zoom position, θ2 in FIG. 10 becomes smaller and the coefficient α1 also becomes smaller.

[0140] Therefore, the main control unit 50 determines the zoom position of the imaging lens 12 and the movable range L of the mechanical vibration isolation mechanism 43. X2 ,L Y2 If table data in which θ1 and θ2 correspond to each other is available, the coefficient α1 and / or the coefficient α2 can be calculated.

[0141] 16 changes depending on the electronic zoom magnification. The larger the electronic zoom magnification, the smaller the angle of view D. The smaller the angle of view D, the larger the margin M (see FIG. 16) required for electronic image stabilization processing, so the coefficients α1 and α2 can be increased.

[0142] In this modified example, as shown in Fig. 20, a correction table 90 that stores the relationship between zoom magnification and correction coefficient β may be stored in the memory 45. The main control unit 50 acquires the zoom magnification of the imaging lens 12 attached to the body 11, for example, from lens data 35A (see Fig. 3) stored in the memory 35. The main control unit 50 acquires the correction coefficient β corresponding to the acquired zoom magnification from the correction table 90, and sets values ​​obtained by multiplying the acquired correction coefficient β by the coefficients α1 and α2 in the correction sharing processing unit 54.

[0143] Instead of the zoom magnification, the focal length of the imaging lens 12 may be recorded in association with the correction coefficient β in the correction table 90. Also, the ID (identification) of the imaging lens 12 included in the lens data 35A may be recorded in association with the correction coefficient β.

[0144] Furthermore, if a zoom operation for changing the zoom magnification of the imaging lens 12 is possible, the main control unit 50 may obtain a correction coefficient β corresponding to the zoom magnification set by the zoom operation from the correction table 90, and correct the coefficients α1 and α2 based on the obtained correction coefficient β.

[0145] The correction table 90 may also be stored in the memory 35 of the imaging lens 12 (see FIG. 3). In this case, the correction table 90 may only store the correction coefficient β corresponding to the zoom magnification of the imaging lens 12. The main control unit 50 may acquire the correction coefficient β from the correction table 90 stored in the memory 35 via the lens drive control unit 34. The main control unit 50 may also acquire the correction table 90 from the memory 35 of the imaging lens 12 when the imaging lens 12 is attached to the body 11 and store the acquired correction table 90 in the memory 45 of the body 11. In addition, the current position of the optical zoom lens in the lens barrel of the imaging lens 12 may be recorded in correspondence with the correction coefficient β. Furthermore, if the body 11 is unable to communicate with the imaging lens 12 and is unable to read information about the imaging lens 12, the correction coefficient β may be associated with a focal length value set by the user.

[0146] [Fifth Modification] In the fifth modification, coefficients α1 and α2 are changed depending on whether imaging lens 12 attached to body 11 has an optical shake correction function. If imaging lens 12 has an optical shake correction function, some of the frequency components of rotational shake and translational shake are corrected by the optical shake correction function within imaging lens 12, making it possible to reduce the correction share of electronic image stabilization processing, for example.

[0147] In this modification, a correction table that records the relationship between the presence or absence of an optical shake correction function and the correction coefficient β can be stored in memory 45. The correction coefficient β can be determined based on the separation frequency that separates rotational shake and translational shake into low-frequency components and high-frequency components using the optical shake correction function.

[0148] The main control unit 50 acquires the presence or absence of an optical shake correction function of the imaging lens 12 attached to the main body 11, for example, from the lens data 35A (see FIG. 3) stored in the memory 35. The main control unit 50 acquires the correction coefficient β corresponding to the acquired presence or absence of the optical shake correction function from the correction table, and sets the values ​​obtained by multiplying the acquired correction coefficient β by the coefficients α1 and α2 in the correction sharing processor 54.

[0149] As in the case of the zoom magnification, the correction table may be stored in the memory 35 of the imaging lens 12 (see FIG. 3).

[0150] It is also possible to store LUTs for both the presence and absence of the optical shake correction function in memory 45 within main body 11 or memory 35 of imaging lens 12 without using a correction table.

[0151] [Sixth Modification] In the sixth modified example, the coefficients α1 and α2 are changed between the angle of view priority mode and the electronic image stabilization priority mode.

[0152] There is a trade-off between the size of the angle of view D (see FIG. 16) and the performance of electronic image stabilization. In other words, if the angle of view D is increased, the area of ​​the margin M necessary for electronic image stabilization becomes smaller, and the performance of electronic image stabilization deteriorates. Conversely, if the margin M is increased to improve the performance of electronic image stabilization, the angle of view D becomes smaller.

[0153] The angle of view priority mode is a video imaging mode that prioritizes the size of the angle of view D over electronic image stabilization. The electronic image stabilization priority mode is a video imaging mode that prioritizes electronic image stabilization over the size of the angle of view D. The user can select between the angle of view priority mode and the electronic image stabilization priority mode by operating the operation unit 42.

[0154] In this modified example, a correction table that stores the relationship between selection information indicating whether the angle-of-view priority mode or the electronic image stabilization priority mode is selected and the correction coefficient β may be stored in memory 45. The correction coefficient β for the electronic image stabilization priority mode may be set larger than the correction coefficient β for the angle-of-view priority mode.

[0155] The main control unit 50 acquires the correction coefficient β corresponding to the selection information of the angle of view priority mode and the electronic vibration reduction priority mode from the correction table stored in the memory 45, and sets the values ​​obtained by multiplying the acquired correction coefficient β by the coefficients α1 and α2, respectively, in the correction sharing processing unit 54.

[0156] It should be noted that, without using the correction table, LUTs for the angle of view priority mode and the electronic image stabilization priority mode may be stored in the memory 45.

[0157] [Seventh Modification] In the seventh modification, when the first mode is switched to a second mode having a frame rate FR higher than that of the first mode during video capture in the first mode, the coefficient α1 is set to 0. For example, the first mode is a video capture mode with FR=60 fps, and the second mode is a video capture mode with FR=240 fps.

[0158] In this modification, the main control unit 50 performs, for example, the process shown in the flowchart in Fig. 21. The main control unit 50 starts the imaging operation in the first mode in response to the operation of the operation unit 42 (step S20). At this time, the coefficients α1 and α2 are set to values ​​corresponding to the frame rate FR of the first mode.

[0159] Next, the main control unit 50 determines whether the first mode has been switched to the second mode by operating the operation unit 42 (step S21). If the main control unit 50 determines that the mode has been switched to the second mode (step S21: YES), it sets the coefficient α1 to 0 (step S22). As a result, the correction share of the electronic image stabilization process for rotational shake is set to 0.

[0160] Next, the main control unit 50 determines whether the second mode has been switched to the first mode by operating the operation unit 42 (step S23). If the main control unit 50 determines that the mode has not been switched to the first mode (step S23: NO), the process returns to step S22. If the main control unit 50 determines that the mode has been switched to the first mode (step S23: YES), the main control unit 50 sets the coefficient α1 to a value (α1≠0) corresponding to the frame rate FR of the first mode (step S24).

[0161] Next, the main control unit 50 determines whether or not an end operation to end video capture has been performed by operating the operation unit 42 (step S25). If the main control unit 50 determines that an end operation has not been performed (step S25: NO), the process returns to step S21. If the main control unit 50 determines that an end operation has been performed (step S25: YES), the process ends.

[0162] In this way, when images are recorded at a high frame rate for a specific period based on user instructions, the correction share of the electronic image stabilization process for rotational shake can be set to 0 for that period, thereby preventing processing from failing due to rotational shake correction not being completed within one frame period.

[0163] When the first mode is switched to the second mode, not only the coefficient α1 but also the coefficient α2 may be set to 0, and the correction share of the electronic image stabilization process for rotational shake and translational shake may be set to 0.

[0164] [Eighth Modification] In the eighth modification, the correction ratio during live view imaging before video capture is determined based on the frame rate of the video capture mode executed after live view imaging, rather than the frame rate during live view imaging. Live view imaging is an imaging mode that acquires the aforementioned live view image, and image data is not recorded.

[0165] In this modification, the main control unit 50 performs the process shown in the flowchart of Fig. 22. The main control unit 50 determines whether or not the moving image shooting mode has been selected by operating the operation unit 42 (step S30). If the main control unit 50 determines that the moving image shooting mode has been selected (step S30: YES), it calculates the coefficients α1 and α2 and the separation frequency f corresponding to the frame rate FR of the selected moving image shooting mode. c1 ,f c2 are set in the correction sharing processor 54 (step S31). Details of the setting process in step S31 are the same as steps S10 to S13 shown in FIG.

[0166] Next, the main control unit 50 determines whether an instruction to start live view imaging has been issued by operating the operation unit 42 (step S32). If the main control unit 50 determines that an instruction to start live view imaging has been issued (step S32: YES), it starts electronic image stabilization and mechanical image stabilization operations (step S33). The electronic image stabilization process and mechanical image stabilization process perform correction processing at a correction allocation ratio based on the coefficients α1 and α2 set in step S31. The main control unit 50 then starts electronic image stabilization and mechanical image stabilization operations, and starts live view imaging (step S34). An image acquired by live view imaging is displayed in real time on the display 15 or the viewfinder 17 (see FIG. 3).

[0167] Next, the main control unit 50 determines whether or not an instruction to start video imaging has been issued by operating the operation unit 42 (step S35). If the main control unit 50 determines that an instruction to start video imaging has not been issued (step S35: NO), the main control unit 50 returns the process to step S34, thereby continuing live view imaging. If the main control unit 50 determines that an instruction to start video imaging has been issued (step S35: YES), the main control unit 50 starts video imaging (step S36). Even during video imaging, the electronic and mechanical image stabilization operations that were initiated in step S33 continue to be performed.

[0168] Next, the main control unit 50 determines whether or not an end operation to end video capture has been performed by operating the operation unit 42 (step S37). If the main control unit 50 determines that an end operation has not been performed (step S37: NO), the main control unit 50 returns the process to step S36, thereby continuing video capture. If the main control unit 50 determines that an end operation has been performed (step S37: YES), the main control unit 50 ends the process.

[0169] As described above, in this modification, even if the frame rates for live view imaging and video imaging are different, the correction share ratio for live view imaging is determined based on the frame rate of the video imaging mode executed after live view imaging. Therefore, the image stabilization effect is the same for live view imaging and video imaging, and video imaging is performed with the image stabilization effect that the user confirmed during live view imaging. This allows the user to obtain the video image that they intended.

[0170] [Ninth Variation] In the ninth modification, a third mode can be implemented in which multiple frames captured at a second frame rate FR2 are combined to generate a moving image at a first frame rate FR1. Here, FR2 is greater than FR1, e.g., FR1=60 fps and FR2=240 fps. Note that a frame refers to image data obtained in one frame period.

[0171] Fig. 23 is a diagram illustrating the third mode. In the third mode shown in Fig. 23, the image processing unit 41 generates frames F at a second frame rate FR2. Every time the image processing unit 41 generates four frames F, it generates one composite frame SF by combining the four generated frames F. Therefore, the composite frame SF is generated at a first frame rate FR1.

[0172] In this modified example, translational shake correction is performed on each of the multiple frames F generated at the second frame rate FR2, and rotational shake correction is performed on the composite frame SF generated at the first frame rate FR1. Specifically, when correcting the frame F with electronic shake correction, the main control unit 50 sets the coefficient α1 set in the first allocation processor 54A (see FIG. 5) to 0, thereby setting the correction allocation ratio for rotational shake in the electronic shake correction process to 0. Furthermore, when correcting the composite frame SF with electronic shake correction, the main control unit 50 sets the coefficient α2 set in the second allocation processor 54B (see FIG. 7) to 0, thereby setting the correction allocation ratio for translational shake in the electronic shake correction process to 0.

[0173] Also, when stabilizing the translation of frame F, the separation frequency f c2 (See Figure 7) and the separation frequency f when the composite frame SF is subjected to rotational blur correction. c1 (See FIG. 5). For example, the separation frequency f c2 is set based on the first frame rate FR1, and the separation frequency f c1 is set based on the second frame rate FR2.

[0174] As described above, in this modified example, correction of rotational shake, which has a high computational load, is performed only on the composite frame SF generated at a low frame rate, so that electronic image stabilization can be performed appropriately even when the frame rate at which frame F is acquired is high.

[0175] [Tenth Modification] The mechanical vibration isolation mechanism 43 is not limited to the so-called sensor shift type in which the imaging sensor 20 shown in Fig. 10 is translated and rotated by a coil and a yoke. For example, the mechanical vibration isolation mechanism 43 may be a gimbal mechanism 120 provided in the imaging device 10A shown in Fig. 24. The gimbal mechanism 120 is provided between the main body 100 and the camera unit 110 that has a built-in imaging sensor. The gimbal mechanism 120 is a stabilizer that holds the camera unit 110 rotatably about three axes, and controls the camera unit 110 to maintain a constant attitude.

[0176] The first embodiment and the various modifications described above can be combined with each other as long as no contradiction occurs.

[0177] In the above embodiment, the hardware structure of the control unit, with processor 40 being an example, can use the following various processors. The above various processors include a CPU, which is a general-purpose processor that functions by executing software (programs), as well as a processor such as an FPGA, whose circuit configuration can be changed after manufacture. FPGAs include dedicated electrical circuits, such as PLDs or ASICs, which are processors with a circuit configuration designed specifically to execute specific processes.

[0178] The control unit may be configured with one of these various processors, or may be configured with a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Also, multiple control units may be configured with a single processor.

[0179] There are several possible examples of configuring multiple control units with a single processor. A first example is a form in which one processor is configured with a combination of one or more CPUs and software, as typified by computers such as client and server, and this processor functions as multiple control units. A second example is a form in which a processor is used to realize the functions of an entire system including multiple control units on a single IC chip, as typified by system-on-chip (SOC). In this way, the control unit can be configured as a hardware structure using one or more of the various processors described above.

[0180] Furthermore, more specifically, the hardware structure of these various processors can be an electric circuit that combines circuit elements such as semiconductor elements.

[0181] The above-described description and illustrations are a detailed explanation of the parts related to the technology of the present disclosure and are merely an example of the technology of the present disclosure. For example, the above description of the configuration, functions, actions, and effects is an explanation of an example of the configuration, functions, actions, and effects of the parts related to the technology of the present disclosure. Therefore, it goes without saying that unnecessary parts may be deleted, new elements may be added, or replacements may be made to the above-described description and illustrations within the scope of the gist of the technology of the present disclosure. Furthermore, to avoid confusion and facilitate understanding of the parts related to the technology of the present disclosure, the above-described description and illustrations omit explanations of common technical knowledge that do not require particular explanation to enable the implementation of the technology of the present disclosure.

[0182] All publications, patent applications, and technical standards mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent application, or technical standard was specifically and individually indicated to be incorporated by reference. [Explanation of symbols]

[0183] 10,10A Imaging device 11 Main unit 11A Camera side mount 11B Electrical contacts 11C Front 11D back 12 Imaging lens 12A Lens side mount 12B Electrical Contact 13 Dial 14 Release button 15 Display 16 instruction keys 17 Finder 18 Finder eyepiece 20 Image sensor 20A light receiving surface 20B Imaging area 30 objective lenses 31 Focus Lens 32 Rear lens 33 Aperture 34 Lens drive control unit 35 memory 35A Lens Data 40 processors 41 Image processing section 42 Operation section 43 Mechanical vibration isolation mechanism 43A Moving part 43B coil 44 Shake detection sensor 44A Gyro Sensor 44B Acceleration Sensor 45 memory 45A Operation Program 50 Main control unit 51 Imaging control unit 52 Mechanical vibration isolation control unit 53 Electronic anti-shake control unit 54 Correction sharing processing section 54A First Allocated Processing Section 54B Second Allocated Processing Section 60, 70, 80 frequency separation section 60A, 70A, 80A LPF 60B, 70B, 80B subtractor 61,71,81 Distribution section 61A, 71A, 81A multiplier 61B, 71B, 81B subtractor 61C, 71C, 81C multiplier 61D, 71D, 81D adders 62 Signal Processing Unit 72, 82 First signal processing section 73,83 Second signal processing section 62A, 72A, 73A, 82A, 83A subtractor 62B, 72B, 73B, 82B, 83B HPF 62C, 72C, 73C, 82C, 83C multipliers 62D,73D,83D integrator 72D,82D 1st integrator 72E,82E 2nd integrator 63A First rotation amount calculation unit 63B Second rotation amount calculation unit 74,84 multiplier 75 First shift amount calculation unit 85 Second shift amount calculation unit 90 Correction Table 100 units 110 Camera Club 120 Gimbal mechanism D Angle of View F Frame M margin RA recording area RM range of motion SF Composite Frame

Claims

1. an imaging sensor; a detection sensor that detects rotational shake applied to a body that houses the imaging sensor; a mechanical vibration isolation mechanism that rotatably holds the image sensor and corrects the rotational shake by rotating the image sensor; a processor, The processor: determining a correction sharing ratio between a mechanical image stabilization process using the mechanical image stabilization mechanism and an electronic image stabilization process for correcting the rotational shake based on a frame rate of video imaging; executing the mechanical vibration isolation processing and the electronic vibration isolation processing; An imaging device, the processor reduces the correction share of the electronic image stabilization processing as the frame rate increases; Imaging device.

2. The rotational vibration is a vibration in the roll direction applied to the main body. The imaging device according to claim 1 .

3. An imaging sensor; a detection sensor that detects rotational shake applied to a body that houses the imaging sensor; a mechanical vibration isolation mechanism that rotatably holds the image sensor and corrects the rotational shake by rotating the image sensor; a processor, The processor: when determining a correction sharing ratio between mechanical image stabilization processing using the mechanical image stabilization mechanism and electronic image stabilization processing for correcting the rotational shake based on a frame rate in video imaging, the correction sharing ratio between the mechanical image stabilization processing and the electronic image stabilization processing is determined by referring to a lookup table in which a relationship between the frame rate and a coefficient α (0<α<1) corresponding to the correction sharing ratio of the electronic image stabilization processing is recorded; executing the mechanical vibration isolation processing and the electronic vibration isolation processing; An imaging device, The processor: Separating the rotational shake into a first frequency component and a second frequency component having a frequency higher than that of the first frequency component, correcting the first frequency component by multiplying the first frequency component by the coefficient α, a second component obtained by multiplying the first frequency component by (1-α) and adding the resultant component to the second frequency component is used for the mechanical vibration isolation processing; Imaging device.

4. The coefficient α varies depending on the resolution of the image signal. The imaging device according to claim 3 .

5. A lens can be attached to the main body, The coefficient α differs depending on whether or not the lens attached to the body has an optical image stabilization function, or depending on the zoom magnification.

5. The imaging device according to claim 3.

6. An imaging sensor; a detection sensor that detects rotational shake applied to a body that houses the imaging sensor; a mechanical vibration isolation mechanism that rotatably holds the image sensor and corrects the rotational shake by rotating the image sensor; a processor, The processor: determining a correction sharing ratio between a mechanical image stabilization process using the mechanical image stabilization mechanism and an electronic image stabilization process for correcting the rotational shake based on a frame rate of video imaging; executing the mechanical vibration isolation processing and the electronic vibration isolation processing; An imaging device, The processor: In the electronic image stabilization process, a recording area selected from an imaging area of ​​the image sensor is changed among a plurality of frames; performing control to change the recording area based on the frame rate; Imaging device.

7. the processor increases the recording area as the frame rate increases; The imaging device according to claim 6 .

8. An imaging sensor; a detection sensor that detects a rotational shake applied to a body that houses the image sensor and a translational shake in a direction intersecting a rotation axis in a roll direction of the body; a mechanical vibration isolation mechanism that rotatably holds the image sensor and corrects the rotational shake and the translational shake by rotating the image sensor; a processor, The processor: determining a correction sharing ratio between a mechanical image stabilization process using the mechanical image stabilization mechanism and an electronic image stabilization process for correcting the rotational shake and the translational shake based on a frame rate of video imaging; executing the mechanical vibration isolation processing and the electronic vibration isolation processing; An imaging device, The processor: generating a moving image having a frame rate lower than the frame rate at which the images were captured by synthesizing the captured frames; In the electronic image stabilization processing, the translational shake is corrected for the plurality of frames, and the rotational shake is corrected for a composite frame obtained by combining the plurality of frames. Imaging device.

9. the detection sensor detects angular vibration about at least one axis intersecting the rotation axis in addition to the rotational vibration and the translational vibration; when the processor determines that the angular shake is added to the translational shake as a combined shake, the processor causes the mechanical image stabilization processing to correct a part or all of the combined shake, and causes the electronic image stabilization processing to correct a part or all of the combined shake. The imaging device according to claim 8 .

10. the translational shake correction allocation ratio is different from the rotational shake correction allocation ratio, 10. The imaging device according to claim 8 or claim 9.

11. The processor: The frame rate can be changed based on an instruction from a user during the video capture, When the frame rate is changed from a low frame rate to a high frame rate, the correction allocation rate for the rotational shake in the electronic image stabilization processing is set to 0.

3. The imaging device according to claim 1.

12. the processor determines the correction allocation ratio during live view imaging before video imaging based on a frame rate of the video imaging executed after live view imaging.

3. The imaging device according to claim 1.

13. an imaging sensor; a detection sensor that detects rotational shake applied to a body that houses the imaging sensor; a mechanical vibration isolation mechanism that rotatably holds the image sensor and corrects the rotational shake by rotating the image sensor; A method for operating an imaging device comprising: The processor: determining a correction sharing ratio between the mechanical image stabilization process using the mechanical image stabilization mechanism and the electronic image stabilization process for correcting the rotational shake based on a frame rate of video imaging; executing the mechanical vibration isolation processing and the electronic vibration isolation processing; the higher the frame rate, the smaller the correction share of the electronic image stabilization processing; Including, A method for operating an imaging device.

14. an imaging sensor; a detection sensor that detects rotational shake applied to a body that houses the imaging sensor; a mechanical vibration isolation mechanism that rotatably holds the image sensor and corrects the rotational shake by rotating the image sensor; A program for operating an imaging device comprising: determining a correction sharing ratio between the mechanical image stabilization process using the mechanical image stabilization mechanism and the electronic image stabilization process for correcting the rotational shake based on a frame rate of video imaging; executing the mechanical vibration isolation processing and the electronic vibration isolation processing; the higher the frame rate, the smaller the correction share of the electronic image stabilization processing; A program that causes a processor to execute a process including:

Images