Image movement correction of camera

• US 5,794,078 A
• Filed: 09/06/1996
• Issued: 08/11/1998
• Est. Priority Date: 09/11/1995
• Status: Expired due to Term

• Current Assignee: Nikon Corporation
• Original Assignee: Nikon Corporation
• Inventors: Okazaki, Mitsuhiro
• Primary Examiner(s): PERKEY, WILLIAM B
• Application Number:
  US08/709,092
• Time in Patent Office: 704 Days
• Field of Search: 396/50, 396/53, 396/55, 396/52, 396/89, 396/80, 396/81, 396/82, 396/91, 396/93, 348/208, 359/554-557
• US Class Current: 396/50
• CPC Class Codes: G03B 2205/0015 by displacing one or more optical elements normal to the optical axis
• CPC Class Codes: G03B 2205/0053 Driving means for the movement of one or more optical element
• CPC Class Codes: G03B 2217/005 Blur detection
• CPC Class Codes: G03B 5/00 Adjustment of optical system relative to image or object surface other than for focusing

Abstract

An image correcting camera, for precisely detecting translational vibrations of the camera and precisely correcting an image shake, includes an acceleration detector for detecting tri-axis directional accelerations acting on the camera, an angular velocity detector for detecting angular velocities about the tri-axes that act upon the camera, an attitude calculating device for calculating a coordinate transform matrix between a camera coordinate system and a static coordinate system from the tri-axis directional accelerations and the angular velocities about the tri-axes, and a gravitational acceleration component calculating device for calculating a gravitational acceleration component in the camera coordinate system from the coordinate transform matrix. An initial velocity is calculated from the acceleration with an elimination of the gravitational acceleration component, and a velocity is calculated from the acceleration thereof and the initial velocity. A displacement is calculated from this velocity. A correction drive quantity calculating device calculates an image shake quantity based on these values.

Claims

1. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations in X-, Y- and Z-axis directions orthogonal to each other, which accelerations act upon said camera;

an angular velocity detecting unit to detect angular velocities about the tri-axes that act upon said camera;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from an initial attitude of said camera with respect to the static coordinate system and from the angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a displacement calculating unit to calculate an initial velocity from the acceleration with an elimination of the gravitational acceleration component, to calculate a velocity from the initial velocity and from the acceleration with an elimination of the gravitational acceleration component, and to calculate a displacement from the velocity;

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

an image-shake correcting device;

a correction quantity calculating unit to calculate an image shake quantity on the basis of the displacements in X- and Y-axis directions or in tri-axis directions, angles of rotations about X- and Y-axes or about tri-axes that are calculated from the angular velocities about the X- and Y-axes or about the tri-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said image-shake correcting device on the basis of the image shake quantity; and

a driving device to drive said image-shake correcting device on the basis of the drive quantity.

2. An image correcting camera according to claim 1, wherein said image-shake correcting device contains an optical system movable in directions orthogonal to an optical axis.

3. An image correcting camera according to claim 1, wherein said image-shake correcting device contains an imaging surface movable in directions orthogonal to the optical axis.

4. An image correcting camera according to claim 1, wherein said attitude calculating unit calculates the initial attitude of said camera with respect to the static coordinate system from a gravitational acceleration direction in the camera coordinate system that is obtained from the accelerations in the tri-axis directions.

5. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations in X-, Y- and Z-axis directions orthogonal to each other, which accelerations act upon said camera;

an angular velocity detecting unit to detect angular velocities about the X- and Y-axes and a Z-axis orthogonal thereto that act upon said camera;

an attitude detecting unit to detect an attitude of said camera by detecting a gravitational acceleration direction;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from the attitude of said camera and from angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a displacement calculating unit to calculate an initial velocity from the acceleration with an elimination of the gravitational acceleration component, to calculate a velocity from the initial velocity and from the acceleration with an elimination of the gravitational acceleration component, and to calculate a displacement from the velocity;

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

an image-shake correcting device;

a correction quantity calculating unit to calculate an image shake quantity on the basis of the displacements in X- and Y-axis directions, angles of rotations about X- and Y-axes that are calculated from the angular velocities about the X- and Y-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said image-shake correcting device on the basis of the image shake quantity; and

a driving device to drive said image-shake correcting device on the basis of the drive quantity.

6. An image correcting camera according to claim 5, wherein said image-shake correcting device contains an optical system movable in directions orthogonal to an optical axis.

7. An image correcting camera according to claim 5, wherein said image-shake correcting device contains an imaging surface movable in directions orthogonal to the optical axis.

8. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations in X-, Y- and Z-axis directions orthogonal to each other, which accelerations act upon said camera;

an angular velocity detecting unit to detect angular velocities about the tri-axes that act upon said camera;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from an initial attitude of said camera with respect to the static coordinate system and from the angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a displacement calculating unit to calculate an initial velocity from the acceleration with an elimination of the gravitational acceleration component, to calculate a velocity from the initial velocity and from the acceleration with an elimination of the gravitational acceleration component, and to calculate a displacement from the velocity;

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

a focusing lens;

a drive quantity calculating unit to calculate an image shake quantity and a defocus quantity on the basis of the displacements in tri-axis directions, angles of rotations about tri-axes that are calculated from angular velocities about the tri-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said focusing lens on the basis of the image shake quantity, a drive quantity of a correction lens or an imaging surface and the defocus quantity; and

a driving device to drive respectively said correction lens or said imaging surface and said focusing lens on the basis of the drive quantity.

9. An image correcting camera according to claim 8, wherein said attitude calculating unit calculates the initial attitude of said camera with respect to the static coordinate system from the gravitational acceleration direction in the camera coordinate system that is obtained from the accelerations in the tri-axis directions.

10. An image correcting camera comprising:

an acceleration detecting unit to detect an acceleration acting upon said camera together with a time;

a velocity calculating unit to calculate a velocity from a period acceleration by determining the period acceleration between a first peak and a last peak during a predetermined period in a curvilinear line depicted by the detected acceleration versus the time, and by assuming that a displacement of said camera at the first peak point and a displacement thereof at the last peak point are equal;

a displacement calculating unit to calculate a displacement during the correction of the image shake from the velocity calculated by said velocity calculating unit;

an image-shake correcting device;

a drive quantity determining unit to calculate an image shake quantity on the basis of the displacement calculated by said displacement calculating unit, and to determine a drive quantity of said image-shake correcting device on the basis of the image shake quantity; and

a driving device to drive said image-shake correcting device on the basis of the drive quantity.

11. An image correcting camera according to claim 10, wherein said image-shake correcting device contains an optical system movable in directions orthogonal to an optical axis.

12. An image correcting camera according to claim 10, wherein said image-shake correcting device contains an imaging surface movable in directions orthogonal to the optical axis.

13. An image correcting camera according to claim 10, wherein said velocity calculating unit calculates the velocity from the acceleration till a full-push switch is turned ON after a half-push switch has been turned ON.

14. An image correcting camera according to claim 10, wherein said velocity calculating unit, when said acceleration detecting unit detects an acceleration with one or more periods, calculates the velocity, and

the image shake is not corrected when said acceleration detecting unit does not detect the acceleration with one or more periods.

15. An image correcting camera according to claim 14, wherein a photographic process is stopped when said acceleration detecting unit does not detect the acceleration with one or more periods.

16. An image correcting camera according to claim 10, wherein said velocity calculating unit, when said acceleration detecting unit detects that the acceleration direction changes twice or more within the predetermined period, calculates the velocity, and

the image shake is not corrected when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period.

17. An image correcting camera according to claim 16, wherein when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period, the photographic process is stopped.

18. An image correcting camera according to claim 16, wherein when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period, the image shake is not corrected.

19. An image correcting camera according to claim 16, wherein when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period, the photographic process continues.

20. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations acting upon said camera together with a time in X-, Y- and Z-axis directions orthogonal to each other;

an angular velocity detecting unit to detect angular velocities about the tri-axes that act upon said camera;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from an initial attitude of said camera with respect to the static coordinate system and from the angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a velocity calculating unit to calculate a velocity from a period acceleration by determining the period acceleration between a first peak and a last peak during a predetermined period in a curvilinear line depicted by the acceleration with an elimination of the gravitational acceleration component versus the time, and by assuming that a displacement of said camera at the first peak point and a displacement thereof at the last peak point are equal;

a displacement calculating unit to calculate a displacement during the correction of the image shake from the velocity calculated by said velocity calculating unit;

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

an image-shake correcting device;

a correction quantity calculating unit to calculate an image shake quantity on the basis of the displacements in X- and Y-axis directions or in tri-axis directions, angles of rotations about X- and Y-axes or about tri-axes that are calculated from the angular velocities about the X- and Y-axes or about the tri-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said image-shake correcting device on the basis of the image shake quantity; and

a driving device to drive said image-shake correcting device on the basis of the drive quantity.

21. An image correcting camera according to claim 20, wherein said image-shake correcting device contains an optical system movable in directions orthogonal to an optical axis.

22. An image correcting camera according to claim 20, wherein said image-shake correcting device contains an imaging surface movable in directions orthogonal to the optical axis.

23. An image correcting camera according to claim 20, wherein said velocity calculating unit calculates the velocity from the acceleration till the full-push switch is turned ON after the half-push switch has been turned ON.

24. An image correcting camera according to claim 20, wherein said velocity calculating unit, when said acceleration detecting unit detects an acceleration with one or more periods, calculates the velocity, and

the image shake is not corrected when said acceleration detecting unit does not detect the acceleration with one or more periods.

25. An image correcting camera according to claim 24, wherein a photographic process is stopped when said acceleration detecting unit does not detect the acceleration with one or more periods.

26. An image correcting camera according to claim 20, wherein said velocity calculating unit, when said acceleration detecting unit detects that the acceleration direction changes twice or more within the predetermined period, calculates the velocity, and

the image shake is not corrected when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period.

27. An image correcting camera according to claim 26, wherein when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period, the photographic process is stopped.

28. An image correcting camera according to claim 26, wherein said attitude calculating unit determines an attitude of said camera with respect to the static coordinate system from the gravitational acceleration direction in the camera coordinate system that is obtained from the accelerations in the tri-axis directions.

29. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations acting upon said camera together with a time in X- and Y-axis directions orthogonal to each other;

an angular velocity detecting unit to detect angular velocities about X- and Y-axes and a Z-axis orthogonal thereto;

an attitude detecting unit to detect an attitude of said camera by detecting a gravitational acceleration direction;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from the attitude of said camera and from the angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a velocity calculating unit to calculate a velocity from a period acceleration by determining the period acceleration between a first peak and a last peak during a predetermined period in a curvilinear line depicted by the acceleration with an elimination of the gravitational acceleration component versus the time, and by assuming that a displacement of said camera at the first peak point and a displacement thereof at the last peak point are equal;

a displacement calculating unit to calculate a displacement during the correction of the image shake from the velocity calculated by said velocity calculating unit;

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

an image-shake correcting device;

a correction quantity calculating unit to calculate an image shake quantity on the basis of the displacements in X- and Y-axis directions, angles of rotations about X- and Y-axes that are calculated from the angular velocities about the X- and Y-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said image-shake correcting device on the basis of the image shake quantity; and

a driving device to drive said image-shake correcting device on the basis of the drive quantity.

30. An image correcting camera according to claim 29, wherein said image-shake correcting device contains an optical system movable in directions orthogonal to an optical axis.

31. An image correcting camera according to claim 29, wherein said image-shake correcting device contains an imaging surface movable in directions orthogonal to the optical axis.

32. An image correcting camera according to claim 29, wherein said velocity calculating unit calculates the velocity from the acceleration till the full-push switch is turned ON after the half-push switch has been turned ON.

33. An image correcting camera according to claim 29, wherein said velocity calculating unit, when said acceleration detecting unit detects an acceleration with one or more periods, calculates the velocity, and

the image shake is not corrected when said acceleration detecting unit does not detect the acceleration with one or more periods.

34. An image correcting camera according to claim 33, wherein a photographic process is stopped when said acceleration detecting unit does not detect the acceleration with one or more periods.

35. An image correcting camera according to claim 33, wherein a warning purporting that the image shake is not corrected is given when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period.

36. An image correcting camera according to claim 35, wherein when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period, the photographic process continues.

37. An image correcting camera according to claim 29, wherein said velocity calculating unit, when said acceleration detecting unit detects that the acceleration direction changes twice or more within the predetermined period, calculates the velocity, and

the image shake is not corrected when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period.

38. An image correcting camera according to claim 37, wherein when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period, the photographic process is stopped.

39. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations acting upon said camera together with a time in X-, Y- and Z-axis directions orthogonal to each other;

an angular velocity detecting unit to detect angular velocities about the tri-axes that act upon said camera;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from an initial attitude of said camera with respect to the static coordinate system and from the angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a velocity calculating unit to calculate a velocity from a period acceleration by determining the period acceleration between a first peak and a last peak during a predetermined period in a curvilinear line depicted by the acceleration with an elimination of the gravitational acceleration component versus the time, and by assuming that a displacement of said camera at the first peak point and a displacement thereof at the last peak point are equal;

a displacement calculating unit to calculate a displacement during the correction of the image shake from the velocity calculated by said velocity calculating unit;

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

a focusing lens;

a drive quantity calculating unit to calculate a defocus quantity on the basis of the displacements in the tri-axis directions, angles of rotations about tri-axes that are calculated from the angular velocities about the tri-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said focusing lens based on the image shake quantity or based on the drive quantity of a correction lens or of an imaging surface, and based on the defocus quantity; and

a driving device to drive respectively said correction lens or said imaging surface and said focusing lens on the basis of the drive quantity.

40. An image correcting camera according to claim 39, wherein said velocity calculating unit calculates the velocity from the acceleration till the full-push switch is turned ON after the half-push switch has been turned ON.

41. An image correcting camera according to claim 39, wherein said velocity calculating unit, when said acceleration detecting unit detects an acceleration with one or more periods, calculates the velocity, and

the image shake is not corrected when said acceleration detecting unit does not detect the acceleration with one or more periods.

42. An image correcting camera according to claim 41, wherein a photographic process is stopped when said acceleration detecting unit does not detect the acceleration with one or more periods.

43. An image correcting camera according to claim 41, wherein said velocity calculating unit, when said acceleration detecting unit detects that the acceleration direction changes twice or more within the predetermined period, calculates the velocity, and

the image shake is not corrected when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period.

44. An image correcting camera according to claim 43, wherein when said acceleration detecting unit detects that the acceleration direction changes only once or less within the predetermined period, the photographic process is stopped.

45. An image correcting camera according to claim 39, wherein said attitude calculating unit determines an attitude of said camera with respect to the static coordinate system from the gravitational acceleration direction in the camera coordinate system that is obtained from the accelerations in the tri-axis directions.

46. A method for image movement correction in a camera, comprising:

detecting accelerations in first, second and third axial directions;

detecting angular velocities about the first, second and third axes;

calculating a gravitational acceleration component in a camera coordinate system based on an initial attitude of a camera with respect to a static coordinate system and the angular velocities about the first, second and third axes;

calculating a displacement based on the acceleration and the gravitational acceleration component;

performing image-shake correction based on the calculated displacement, a distance between the camera and an object to be photographed, and a photographing magnification of the camera.

47. A method according to claim 46, wherein said displacement calculating comprises:

calculating an initial velocity from the acceleration with an elimination of the gravitational acceleration component;

calculating a velocity from the initial velocity and from the acceleration with an elimination of the gravitational acceleration component; and

calculating the displacement from the calculated velocity.

48. A method according to claim 46, wherein said image shake correction performing comprises:

measuring the distance between the camera and the object to be photographed;

determining the photographing magnification of the camera;

calculating an image shake quantity on the basis of the displacements in X and Y-axis directions or in tri-axis directions, angles of rotations about X and Y-axes or about tri-axes that are calculated from the angular velocities about the X and Y-axes or about the tri-axes, the distance between the camera and the object, and the photographing magnification;

determining a drive quantity for an image shake correcting device on the basis of the image shake quantity; and

driving the image shake correcting device on the basis of the drive quantity.

49. A method according to claim 46, wherein said gravitational acceleration component calculating comprises:

calculating a coordinate transform matrix between the camera coordinate system and the static coordinate system from the initial attitude of the camera with respect to the static coordinate system and from the angular velocities about the tri-axes;

calculating the gravitational acceleration component in the camera coordinate system using the coordinate transform matrix.

50. A method for image movement correction in a camera, comprising:

detecting an acceleration acting upon the camera together with a time;

calculating a velocity from a period acceleration between a first peak and a last peak during a predetermined period in a curvilinear line depicted by the detected acceleration versus the time, and by assuming that a displacement of the camera at the first peak point and a displacement thereof at the last peak point are equal;

calculating a displacement during the correction of the image shake from the calculated velocity; and

performing image-shake correction based on the calculated displacement.

51. A method according to claim 50, further comprising:

detecting angular velocities about the first, second and third axes;

calculating a gravitational acceleration component in a camera coordinate system based on an initial attitude of a camera with respect to a static coordinate system and the angular velocities about the first, second and third axes,

wherein the curvilinear line is depicted by the detected acceleration with an elimination of the gravitational acceleration component versus time.

52. A method according to claim 51, wherein said gravitational acceleration component calculating comprises:

calculating a coordinate transform matrix between a camera coordinate system and the static coordinate system from the initial attitude of the camera with respect to the static coordinate system and from the angular velocities about the first, second and third axes; and

calculating the gravitational acceleration component in the camera coordinate system using the coordinate transform matrix.

53. A method according to claim 50, wherein said image-shake correction performing comprises:

measuring the distance between the camera and the object to be photographed;

determining a photographing magnification of the camera;

calculating an image shake quantity on the basis of the displacements in X- and Y-axis directions or in tri-axis directions, angles of rotations about X- and Y-axes or about tri-axes that are calculated from the angular velocities about the X- and Y-axes or about the tri-axes, the distance between the camera and the object, and the photographing magnification;

determining a drive quantity for an image shake correcting device on the basis of the image shake quantity; and

driving the image shake correcting device on the basis of the drive quantity.

54. A camera having an image-shake correcting device, comprising:

an acceleration detecting unit to detect an acceleration in a linear direction acting on said camera;

a displacement calculating unit to calculate an initial velocity from the acceleration with an elimination of the gravitational acceleration component, to calculate a velocity from the initial velocity and from the acceleration with an elimination of the gravitational acceleration component, and to calculate a displacement from the velocity;

an image-shake quantity determining device to determine an image-shake quantity on the basis of the determined displacement;

a drive quantity determining device to determine a drive quantity of said image-shake correcting device on the basis of the determined image-shake quantity; and

a driving device to drive said image-shake correcting device on the basis of the drive quantity.

55. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations in X- and Y-axis directions orthogonal to each other, which accelerations act upon said camera;

an angular velocity detecting unit to detect angular velocities about the X- and Y-axes and a Z-axis orthogonal thereto that act upon said camera;

an attitude detecting unit to detect an attitude of said camera by detecting a gravitational acceleration direction;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from the attitude of said camera and from angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a displacement calculating unit to calculate an initial velocity from the acceleration with an elimination of the gravitational acceleration component, to calculate a velocity from the initial velocity and from the acceleration with an elimination of the gravitational acceleration component, and to calculate a displacement from the velocity;

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

an image-shake correcting device;

a correction quantity calculating unit to calculate an image shake quantity on the basis of the displacements in X- and Y-axis directions, angles of rotations about X- and Y-axes that are calculated from the angular velocities about the X- and Y-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said image-shake correcting device on the basis of the image shake quantity; and

a driving device to drive said image-shake correcting device on the basis of the drive quantity.

56. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations in X- and Y-axis directions orthogonal to each other, which accelerations act upon said camera;

an angular velocity detecting unit to detect angular velocities about the tri-axes that act upon said camera;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from an initial attitude of said camera with respect to the static coordinate system and from the angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a displacement calculating unit to calculate an initial velocity from the acceleration with an elimination of the gravitational acceleration component, to calculate a velocity from the initial velocity and from the acceleration with an elimination of the gravitational acceleration component, and to calculate a displacement from the velocity;

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

an image-shake correcting device;

a correction quantity calculating unit to calculate an image shake quantity on the basis of the displacements in X- and Y-axis directions or in tri-axis directions, angles of rotations about X- and Y-axes or about tri-axes that are calculated from the angular velocities about the X- and Y-axes or about the tri-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said image-shake correcting device on the basis of the image shake quantity; and

a driving device to drive said image-shake correcting device on the basis of the drive quantity.

57. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations in X- and Y-axis directions orthogonal to each other, which accelerations act upon said camera;

an angular velocity detecting unit to detect angular velocities about the tri-axes that act upon said camera;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from an initial attitude of said camera with respect to the static coordinate system and from the angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a displacement calculating unit to calculate an initial velocity from the acceleration with an elimination of the gravitational acceleration component, to calculate a velocity from the initial velocity and from the acceleration with an elimination of the gravitational acceleration component, and to calculate a displacement from the velocity,

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

a focusing lens;

a drive quantity calculating unit to calculate an image shake quantity and a defocus quantity on the basis of the displacements in tri-axis directions, angles of rotations about tri-axes that are calculated from angular velocities about the tri-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said focusing lens on the basis of the image shake quantity, a drive quantity of a correction lens or an imaging surface and the defocus quantity; and

a driving device to drive respectively said correction lens or said imaging surface and said focusing lens on the basis of the drive quantity.

58. An image correcting camera comprising;

an acceleration detecting unit to detect an acceleration acting upon said camera together with a time in two axial directions;

a velocity calculating unit to calculate a velocity from a period acceleration by determining the period acceleration between a first peak and a last peak during a predetermined period in a curvilinear line depicted by the detected acceleration versus the time, and by assuming that a displacement of said camera at the first peak point and a displacement thereof at the last peak point are equal;

a displacement calculating unit to calculate a displacement during the correction of the image shake from the velocity calculated by said velocity calculating unit;

an image-shake correcting device;

a drive quantity determining unit to calculate an image shake quantity on the basis of the displacement calculated by said displacement calculating unit, and to determine a drive quantity of said image-shake correcting device on the basis of the image shake quantity; and

a driving device to drive said image-shake correcting device on the basis of the drive quantity.

59. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations acting upon said camera together with a time in X- and Y-axis directions orthogonal to each other;

an angular velocity detecting unit to detect angular velocities about the tri-axes that act upon said camera;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from an initial attitude of said camera with respect to the static coordinate system and from the angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a velocity calculating unit to calculate a velocity from a period acceleration by determining the period acceleration between a first peak and a last peak during a predetermined period in a curvilinear line depicted by the acceleration with an elimination of the gravitational acceleration component versus the time, and by assuming that a displacement of said camera at the first peak point and a displacement thereof at the last peak point are equal;

a displacement calculating unit to calculate a displacement during the correction of the image shake from the velocity calculated by said velocity calculating unit;

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

an image-shake correcting device;

a correction quantity calculating unit to calculate an image shake quantity on the basis of the displacements in X- and Y-axis directions or in tri-axis directions, angles of rotations about X- and Y-axes or about tri-axes that are calculated from the angular velocities about the X- and Y-axes or about the tri-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said image-shake correcting device on the basis of the image shake quantity; and

a driving device to drive said image-shake correcting device on the basis of the drive quantity.

60. An image correcting camera comprising:

an acceleration detecting unit to detect accelerations acting upon said camera together with a time in X- and Y-axis directions orthogonal to each other;

an angular velocity detecting unit to detect angular velocities about the tri-axes that act upon said camera;

an attitude calculating unit to calculate a coordinate transform matrix between a camera coordinate system and a static coordinate system from an initial attitude of said camera with respect to the static coordinate system and from the angular velocities about the tri-axes;

a gravitational acceleration component calculating unit to calculate a gravitational acceleration component in the camera coordinate system by use of the coordinate transform matrix;

a velocity calculating unit to calculate a velocity from a period acceleration by determining the period acceleration between a first peak and a last peak during a predetermined period in a curvilinear line depicted by the acceleration with an elimination of the gravitational acceleration component versus the time, and by assuming that a displacement of said camera at the first peak point and a displacement thereof at the last peak point are equal;

a displacement calculating unit to calculate a displacement during the correction of the image shake from the velocity calculated by said velocity calculating unit;

an object distance measuring unit to measure a distance between said camera and an object;

a photographing magnification detecting unit to detect a photographing magnification of said camera;

a focusing lens;

a drive quantity calculating unit to calculate a defocus quantity on the basis of the displacements in the tri-axis directions, angles of rotations about tri-axes that are calculated from the angular velocities about the tri-axes, a distance between said camera and the object, and the photographing magnification, and to determine a drive quantity of said focusing lens based on the image shake quantity or based on the drive quantity of a correction lens or of an imaging surface, and based on the defocus quantity; and

a driving device to drive respectively said correction lens or said imaging surface and said focusing lens on the basis of the drive quantity.