JP2018146992A - Tremor correction device, imaging device and tremor correction system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent deterioration of a tremor correction performance by errors.SOLUTION: A tremor correction device comprises: an optical system that has an adjustment lens provided in a camera and adjusting an imaging magnification, and forms an image of a subject; an angular velocity sensor 12B that detects an angular velocity of the camera; an acceleration sensor 12A that detects acceleration of the camera; a posture computation unit 32 that computes an initial posture of the camera on the basis of an output from the acceleration sensor 12A; and a tremor correction unit that, when at least any of the imaging magnification being less than a prescribed magnification, and the imaging magnification being equal to or more than the prescribed magnification and the initial posture computed by the posture computation unit 32 being unreliable is determined, makes tremor corrections on the basis of an output of the angular velocity 12B, and when the imaging magnification is equal to or more than the prescribed magnification and the initial posture computed by the posture computation unit 32 is reliable, makes the tremor correction on the basis of the output of the angular velocity sensor 12B and the output of the acceleration sensor 12A.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a shake correction apparatus, a photographing apparatus, and a shake correction system.

The effect of parallel blurring becomes large during high-magnification shooting, but parallel blurring cannot be detected with a general blur correction system that uses only an angular velocity sensor. For this reason, there has been a problem that blur correction accuracy deteriorates during high-magnification shooting.
In order to solve this problem, the translational blur component is calculated by calculating the posture of the camera using a triaxial acceleration sensor and a triaxial angular velocity sensor, and calculating and removing the gravitational acceleration component included in the output of the acceleration sensor. A technique (Patent Document 1) has been proposed that improves the blur correction accuracy at the time of high-magnification shooting by calculating and correcting only this. This is to determine the amount of parallel blur displacement based on the output of the 6-axis sensor.

JP 7-225405 A

Although the above-described conventional technique makes it possible to calculate the blur amount in a plane perpendicular to the optical axis more accurately, the following problems remain.
When calculating the posture of the camera, an initial value is required, which is calculated based on the acceleration sensor value. However, since the acceleration sensor output includes a gravitational acceleration component and an acceleration component, the acceleration sensor output at the time of initial value calculation probably includes a large amount of acceleration components due to blurring or disturbance. In this case, an error occurs in the posture calculation result. This error has a problem that the blur correction accuracy is deteriorated.

  An object of the present invention is to provide a shake correction apparatus, a photographing apparatus, and a shake correction system that can prevent deterioration in shake correction performance.

The present invention is provided with a camera and has an adjustment lens for adjusting a photographing magnification, an optical system that forms an image of a subject, an angular velocity sensor that detects an angular velocity of the camera, and an acceleration sensor that detects an acceleration of the camera And an attitude calculation unit that calculates an initial attitude of the camera based on an output from the acceleration sensor, the imaging magnification is less than a predetermined magnification, and the imaging magnification is greater than or equal to a predetermined magnification and is calculated by the attitude calculation unit If the initial posture is at least one of unreliable, shake correction is performed based on the output from the angular velocity sensor, and the initial magnification calculated by the posture calculation unit is greater than a predetermined magnification. A shake correction unit comprising: a shake correction unit that performs a shake correction based on the output from the angular velocity sensor and the output from the acceleration sensor when the posture is reliable On location.
The present invention also relates to an imaging apparatus including the blur correction apparatus and an imaging unit that images incident light that has passed through the optical system.
The present invention also includes an optical system that includes an adjustment lens that adjusts the photographing magnification, forms an image of a subject, an acceleration sensor that detects acceleration of the optical system, and an angular velocity sensor that detects the angular velocity of the optical system; An attitude calculation unit that calculates an initial attitude of the optical system based on an output from the acceleration sensor, the imaging magnification is less than a predetermined magnification, and the imaging magnification is greater than or equal to a predetermined magnification and the attitude calculation unit If the calculated posture is at least one of unreliable, shake correction is performed based on the output from the angular velocity sensor, and the photographing magnification is equal to or larger than a predetermined magnification and the posture calculated by the posture calculation unit is reliable. And a blur correction unit that performs a blur correction based on an output from the angular velocity sensor and an output from the acceleration sensor.

  According to the present invention, there is an effect that deterioration of blur correction performance due to an error can be prevented.

It is sectional drawing which shows typically 1st Embodiment of the camera of this invention. It is a block diagram which shows 1st Embodiment of the blurring correction apparatus by this invention. It is a figure explaining the camera coordinate system of 1st Embodiment of the blurring correction apparatus by this invention. It is a flowchart explaining operation | movement of 1st Embodiment of the blurring correction apparatus by this invention. It is a flowchart explaining the blur correction calculation of 1st Embodiment of the blur correction apparatus by this invention. It is a diagram explaining the initial posture calculation of the shake correction apparatus of the first embodiment. It is a diagram explaining the initial posture calculation of the shake correction apparatus of the first embodiment. It is a block diagram which shows 2nd Embodiment of the blurring correction apparatus by this invention. It is a flowchart which shows operation | movement of the blurring correction apparatus by 2nd Embodiment. It is a block diagram which shows 3rd Embodiment of the blurring correction apparatus by this invention. It is a flowchart which shows operation | movement of the blurring correction apparatus by 3rd Embodiment. It is a diagram explaining the attitude | position information update operation | movement of the blurring correction apparatus by 3rd Embodiment. It is a block diagram which shows 4th Embodiment of the blurring correction apparatus by this invention. It is a diagram explaining attitude | position information update operation | movement of the blurring correction apparatus by 4th Embodiment.

(First embodiment)
Hereinafter, embodiments of the present invention will be described in more detail with reference to the drawings.
FIG. 1 is a cross-sectional view schematically showing a first embodiment of the camera of the present invention.
The camera 1 is a digital single-lens reflex camera, and includes a camera housing 1A and a lens barrel 1B that is detachably attached to the camera housing 1A.
The CPU 2 is a central processing unit that calculates the movement amount of the lens groups such as the zoom group 4, the focus group 5, and the shake correction group 6 and controls the entire camera 1.
The imaging element 3 is an element that captures a subject image formed by the photographing lenses (4, 5, 6), exposes the subject light to convert it into an electrical image signal, and outputs it to the signal processing circuit 15. The image pickup device 3 is configured by an element such as a CCD or a CMOS.

  The zoom group 4 is a lens group that is driven by the zoom group driving mechanism 7 and moves along the optical axis direction to continuously change the magnification of the image. The focus group 5 is a lens group that is driven by the focus group drive mechanism 8 and moves in the optical axis direction to focus. The shake correction group 6 is a lens group that is optically shake-corrected by a shake correction group drive mechanism 9 and is movable on a plane perpendicular to the optical axis.

The diaphragm 10 is a mechanism that is driven by the diaphragm drive mechanism 11 and controls the amount of subject light passing through the photographing lenses (4, 5, 6).
The acceleration sensor 12 </ b> A and the angular velocity sensor 12 </ b> B are sensors that detect shake acceleration and angular velocity generated in the sensor unit, respectively.

The recording medium 13 is a medium for recording captured image data, and an SD card, a CF card, or the like is used.
The EEPROM 14 is a memory that stores adjustment value information such as a gain value of the acceleration sensor 12A, information unique to the lens barrel, and the like, and outputs the memory to the CPU 2.
The signal processing circuit 15 is a circuit that receives an output from the image sensor 3 and performs processing such as noise processing and A / D conversion.
The AF sensor 16 is a sensor for performing AF (automatic focus adjustment), and a CCD or the like can be used.
The release switch 17 is a member that performs a photographing operation of the camera 1 and is a switch that operates a shutter driving timing and the like.

The rear liquid crystal 18 is provided on the rear surface of the camera housing 1A of the camera 1 and displays a subject image (reproduced image, live view image) photographed by the image sensor 3 and information (menu) related to operation. It is.
The shutter 20 is disposed behind the mirror 19. Subject light is incident on the shutter 20 when the mirror 19 rotates upward and becomes ready for photographing. The shutter 20 travels through a shutter curtain in response to a shooting instruction from the release switch 17 or the like, and controls subject light incident on the image sensor 3.

FIG. 2 is a block diagram showing a first embodiment of a shake correction apparatus according to the present invention.
FIG. 3 is a view for explaining the camera coordinate system of the first embodiment of the shake correction apparatus according to the present invention.
As shown in FIG. 3A, the acceleration sensor 12A is a G sensor that detects acceleration having sensitivity in the X-axis, Y-axis, and Z-axis directions of the camera 1. In this embodiment, the intersection of the image pickup surface of the image pickup device 3 and the optical axis of the photographing lens (4, 5, 6) is the origin O of the orthogonal coordinates, and the optical axis of the photographing lens (4, 5, 6) is the Z axis. The imaging surface of the imaging device 3 is represented as an XY plane.
The angular velocity sensor 12B is a sensor such as a vibration gyro that detects angular velocities around the X axis (Pitch), the Y axis (Yaw), and the Z axis (Roll).

  The output value of the acceleration sensor 12A includes acceleration generated by translational motion and gravitational acceleration. Further, since the posture of the camera 1 is changed by the rotational movement of the camera 1, the angle formed by the detection axis direction of the acceleration sensor 12A fixed to the camera coordinate system and the gravitational acceleration direction is changed. For this reason, the magnitude of the gravitational acceleration included in the output value of the acceleration sensor 12A changes. Accordingly, the gravitational acceleration component is removed from the output value of the acceleration sensor 12A, and the displacement is calculated using only the acceleration component generated by the translational motion.

In order to calculate the gravitational acceleration component, the camera 1 includes an initial posture calculation unit 31, a posture calculation unit 32, a gravity acceleration calculation unit 33, and an initial posture reliability determination unit 51.
The initial attitude calculation unit 31 is a part that determines the initial attitude of the camera 1 and uses the gravitational acceleration direction determined from the output of the acceleration sensor 12A. Here, since the camera 1 has rotational vibration and translational vibration, the gravitational acceleration direction is continuously measured for an appropriate time, and the average gravitational acceleration direction is obtained by calculating the average of the measurement results. In this way, the average posture of the camera with respect to the inertial coordinate system 41 is obtained from the gravitational acceleration direction in the camera coordinate system 42 shown in FIG. 3, and this is set as the initial posture of the camera 1.

  The posture calculation unit 32 calculates a coordinate conversion matrix for converting from an inertial coordinate system 41, which is a stationary coordinate system, to a camera coordinate system 42, which is a motion coordinate system. This coordinate transformation matrix is calculated using the initial posture of the camera 1 that is the output of the initial posture calculation unit 31 and the acceleration around the three axes that is the output of the angular velocity sensor 12B. This calculation method is a method used in a strap-down type inertial navigation device or the like, and the details thereof are disclosed in, for example, Japanese Patent Laid-Open No. 2-309702. A method for calculating the coordinate transformation matrix is disclosed in Japanese Patent Laid-Open No. 7-225405.

  The gravitational acceleration calculation unit 33 obtains the gravitational acceleration component in the camera coordinate system 42 by multiplying the gravitational acceleration component in the inertial coordinate system 41 by the coordinate transformation matrix. When this gravitational acceleration component is removed from the accelerations in the X-axis and Y-axis directions, which are output values of the acceleration sensor 12A, by the subtracters 21X and 21Y, the acceleration generated by the translational motion is obtained. Further, this value is obtained by removing the low frequency component by the HPFs 22X and 22Y and integrating twice by the integrating circuits 23X and 23Y and the integrating circuits 24X and 24Y, thereby calculating the translational displacement in the X-axis and Y-axis directions. This is output to the shake correction drive amount calculation units 35X and 35Y.

  On the other hand, the output of the angular velocity sensor 12B around the X-axis (Pitch) and around the Y-axis (Yaw) is filtered by the HPFs 25P and 25Y, the low frequency components are removed, and integrated by the integration circuits 26P and 26Y. The units 35X and 35Y are connected to each other.

  The blur correction drive amount calculation units 35X and 35Y are signals processed by the acceleration sensor 12A and the angular velocity sensor 12B, subject distance information from the subject distance information detection unit 37, photographing magnification information from the photographing magnification information detection unit 38, and Based on the lens-specific information from the EEPROM 14 (FIG. 1), the drive amounts of the blur correction drive mechanisms 9X and 9Y are calculated.

The initial posture reliability determination unit 51 is a portion that determines whether or not the initial posture calculation result is reliable. The initial posture reliability determination unit 51 will be described in detail later.
When calculating the attitude of the camera 1, an initial value is required, which is calculated based on the detection value of the acceleration sensor 12A. However, since the output of the acceleration sensor 12A includes a gravitational acceleration component and an acceleration component, the output of the acceleration sensor 12A at the time of initial value calculation probably includes an acceleration component due to a large shake or a disturbance. In such a case, an error occurs in the attitude calculation result. Due to this error, there is a problem that the blur correction accuracy is deteriorated.
In this embodiment, in order to prevent deterioration of the blur correction performance due to an error in the initial posture calculation result, the initial value of posture information is not obtained before the blur correction is started (it is determined that the reliability is low). When the initial value is calculated, shake correction (normal camera shake correction) using only the angular velocity sensor 12B is performed.

FIG. 4 is a flowchart for explaining the operation of the first embodiment of the shake correction apparatus according to the present invention.
In S1, it is determined whether or not the release switch 17 is half-pressed. If the release switch 17 is half-pressed, the process proceeds to S2.
Next, acquisition of focal length information (S2) and acquisition of subject distance information (S3) are performed.
In S4, the shooting magnification: β information is acquired, and it is determined whether or not the shooting magnification: β is equal to or greater than a predetermined threshold β _th (S5). If the result is affirmative, the process proceeds to S6. , Go to S9.

In S6, the reliability of the initial posture is determined. 6 and 7 are diagrams illustrating the initial posture calculation of the shake correction apparatus according to the first embodiment.
The determination of the reliability is calculated based on the output value of the angular velocity sensor 12B. Specifically, as shown in FIG. 6A, when the half-press signal of the release switch 17 is turned on at time t1, the initial posture calculation in-progress signal is set to the high level as shown in FIG. 6C. 6 (b), the signal of the angular velocity sensor 12B during that time (t1 to t2) is monitored, and if the threshold value ωth is not exceeded during the calculation period, the initial posture is determined to be reliable, As shown in FIG. 6D, a start signal for micro blur correction is output.
As shown in FIG. 7B, when ω exceeds a threshold value: ωth, an acceleration component is likely to be included in the output of the acceleration sensor 12A. In this case, the initial posture result is not reliable. Outputs a shake correction start signal.

Returning to FIG. 4, in S7, it is determined whether or not there is reliability. If the result is affirmative, the process proceeds to S8, and if the result is negative, the process proceeds to S9.
In S8, a micro blur correction calculation subroutine is called. FIG. 5A is a flowchart showing a subroutine for micro blur correction calculation.
In S81, angular velocity data and acceleration data are read.
In S82, distance information from the acceleration sensor 12A to the imaging surface is acquired (used for target position calculation).

In S83, the camera posture is calculated from the initial camera posture information calculated from the acceleration sensor 12A and the angle information calculated from the angular velocity sensor 12B.
In S84, the gravitational acceleration component is calculated from the camera attitude calculation result, and the gravitational acceleration component included in the acceleration sensor detection value is removed.
As described above, the translational blur amount can be detected by using the acceleration sensor 12A, but the output value of the acceleration sensor 12A includes an acceleration component generated by translational blur and a gravitational acceleration component. . In addition, since the camera posture changes due to camera shake, the gravitational acceleration component included in the acceleration sensor detection value also changes. Accordingly, the gravitational acceleration component is removed from the acceleration sensor detection value in order to obtain the acceleration component due to translational blurring.
In S85, the target positions of the shake correction drive mechanisms 9X and 9Y are calculated from the angular velocity information and the acceleration information, and the process returns.

Returning to FIG. 4, in S9, a subroutine for normal blur correction calculation is called. FIG. 5B is a flowchart showing a subroutine of normal blur correction calculation.
In S91, angular velocity data is read.
In S92, based on the angular velocity data, the target position calculation of the shake correction drive mechanisms 9X and 9Y is performed, and the process returns.

In S10, a shake correction driving amount is calculated.
In S11, the blur correction drive mechanisms 9X and 9Y are driven.

  As described above, according to this embodiment, the initial posture reliability determination unit 51 that determines the reliability of the initial posture of the initial posture calculation unit 31 is provided, and the initial posture reliability determination unit 51 has the reliability of the initial posture. Is determined to be low (S7: NO), the weight of the signal based on the acceleration sensor 12A is made low (in this embodiment, only the signal based on the angular velocity sensor 10B is used). It is possible to prevent the blur correction performance from deteriorating due to an error in the calculation result.

(Second Embodiment)
FIG. 8 is a block diagram showing a second embodiment of a shake correction apparatus according to the present invention.
FIG. 9 is a flowchart showing the operation of the shake correction apparatus according to the second embodiment.
In each of the following embodiments, the same reference numerals are given to the portions that perform the same functions as those in the first embodiment, and repeated descriptions are omitted as appropriate.
In the shake correction apparatus of the second embodiment, the initial posture reliability determination unit 51A determines whether or not the initial posture calculation result is reliable (S105), and if it is determined that the initial posture calculation result is not reliable (S106: NO). When the gain of the acceleration component of the gain adjusting units 27X and 27Y is changed (in this embodiment, the gain is lowered (gain <1)), and when a reliable initial posture is obtained (S106: YES) Return the gain to 1x. Since the determination method of reliability is the same as that of the first embodiment, description thereof is omitted.

  According to the second embodiment, the initial posture reliability determination unit 51A that determines the reliability of the initial posture of the initial posture calculation unit 31 is provided, and the initial posture reliability determination unit 51A determines that the reliability of the initial posture is low. In some cases, the gain of the acceleration component of the gain adjusting units 27X and 27Y is changed so that the gain is returned to the base when a reliable initial posture is obtained. Can be prevented.

(Third embodiment)
FIG. 10 is a block diagram showing a third embodiment of a shake correction apparatus according to the present invention.
FIG. 11 is a flowchart showing the operation of the shake correction apparatus according to the third embodiment.
FIG. 12 is a diagram illustrating the posture information update operation of the shake correction apparatus according to the third embodiment.
In the shake correction apparatus using the acceleration sensor 12A and the angular velocity sensor 12B described above, an error occurs in the posture calculation result of the posture calculation unit 32 when a large angle blur occurs due to disturbance or composition change. Further, since the signal from the angular velocity sensor 12B is processed by the HPF 25, an error occurs with time. Due to this error, there is a problem that the acceleration component cannot be detected accurately due to translational blurring.
In the present embodiment, in order to solve the above-described problem, the posture calculation result is updated when a predetermined condition is satisfied.

The posture information update timing signal detection unit 52 is a part that determines the timing for updating the posture calculation result based on the output of the angular velocity sensor 12B. For example, the angular velocity signal is monitored, and when it is in a stationary state for a certain period of time (when it is handheld, there is no significant blur due to composition change or the like), it is determined as the update timing.
When the posture recalculation unit 53 obtains the update timing signal of the posture information update timing signal detection unit 52, based on the output of the acceleration sensor 12A, the posture recalculation unit 53 recalculates the posture information during this time, and obtains the posture information of the posture calculation unit 32. Update.

In this embodiment, when the micro blur correction routine (FIG. 11) is called, angular velocity data is read (S201), and the angular velocity data is HPF processed (S202). Next, acceleration data is read (S203), and subsequent steps S204 to S207 are the same as S82 to S85 in FIG.
In S208, it is determined whether or not the camera is stationary based on the angular velocity signal. As shown in FIG. 12A, the stationary state is determined on condition that the absolute value of the angular velocity is a predetermined value: ωth or less, and this state continues for a predetermined time: Tth or more (FIG. 12 ( b)) Posture information is updated.
Also, the posture information to be updated is calculated from the average value of the acceleration sensor output during the stationary state. Based on the re-acquired posture information, a coordinate transformation matrix is obtained, and this is used as an initial value of the coordinate transformation matrix to perform posture calculation (S209).

In the third embodiment, whether or not the camera posture can be updated is determined by the above processing (S208), and the camera posture information is recalculated based on the determination result (S209), and the value of the acceleration sensor is calculated. Since re-correction is performed (S205), even if an error occurs in the posture calculation result due to disturbance, composition change, or the like, good blur correction can be performed.
Note that even when a determination is made as to whether or not the posture can be updated by a device other than the angular velocity sensor, the description is omitted because it is the same idea as described above.

(Fourth embodiment)
FIG. 13 is a block diagram showing a fourth embodiment of a shake correction apparatus according to the present invention.
FIG. 14 is a diagram illustrating the posture information update operation of the shake correction apparatus according to the fourth embodiment.
In this embodiment, whether or not the posture recalculation unit 53A can update the posture is determined by the output of the angular velocity sensor 12B and the operating state of the camera (in this embodiment, the focus driving state of the focus group driving mechanism 8).
For example, as described in the third embodiment, even if it is determined that the posture state can be updated from the signal of the angular velocity sensor 12B, if the focus is being driven, the posture is not updated. .

  Specifically, when the focus group is driven (FIG. 14B), even when ω ≦ ωth (FIG. 14A), the stationary state duration Tc is reset and after the focus is stopped. Again, the stationary state duration Tc is calculated (FIG. 14C).

According to the fourth embodiment, even if it is determined that the posture state can be updated from the signal of the angular velocity sensor 12B, the posture is not updated if the camera is in an operating state (focus driving, etc.). Even if there is an error in the posture calculation result due to the operating state of the camera or the like, it is possible to perform good blur correction.
The operating state of the camera is the same as described above even after the mirror is raised.

(Deformation)
The present invention is not limited to the above-described embodiment, and various modifications and changes as described below are possible, and these are also within the scope of the present invention.
In the present embodiment, the example in which the initial posture reliability determination unit 51 determines the reliability based on the detection result of the angular velocity sensor 12B has been described, but even if the reliability is determined based on the detection result of the acceleration sensor 12A. Good.

In the third and fourth embodiments, the posture information timing signal detection unit (determination unit) 52 has been described based on an example in which it is determined whether or not posture update is possible based on the output of the angular velocity sensor. Whether or not the posture can be updated may be determined based on the output result of at least one of the magnetic sensor, the GPS sensor, and the tilt sensor.
The posture recalculation unit 53 has been described as an example of performing recalculation of posture information based on the output of the acceleration sensor. However, the posture recalculation unit 53 outputs at least one of an angular velocity sensor, a motion vector calculation unit, a magnetic sensor, a GPS sensor, and a tilt sensor. Based on this, the posture information may be recalculated.
The posture calculation unit 32 includes an initial posture reliability determination unit 51 that determines the reliability of the initial posture. The threshold value ωth for determination may be changed.

  Further, in S85 of FIG. 5, when calculating the target position from the angular velocity information and the acceleration information, the angular velocity information (angle blur) and the acceleration are based on the data from the photographing magnification information detecting unit 38 that detects the photographing magnification. Blur correction may be performed by changing the weight of information (translational blur). In this way, accurate blur correction can be performed according to the shooting magnification.

In this embodiment, a digital single-lens reflex camera has been described. However, the present invention is not limited to this, and is applicable to a compact camera, a silver salt camera, a video camera, a mobile phone, and the like.
In addition, although embodiment and a deformation | transformation form can also be used in combination suitably, detailed description is abbreviate | omitted. Further, the present invention is not limited to the embodiment described above.

  DESCRIPTION OF SYMBOLS 1; Camera 2; CPU 3; Image pick-up element 4; Zoom group 5; Focus group 6; Blur correction group 7; Zoom group drive mechanism 8; Focus group drive mechanism 9: Blur correction group drive mechanism 10; 12; Acceleration / Angular velocity sensor 13; Recording medium 14; EEPROM 15; Signal processing circuit 16; AF sensor 17; Release switch 18; Rear liquid crystal 19; Mirror 20; Shutter 31; Initial attitude calculation unit 32; Acceleration calculation output unit 51; initial posture reliability determination unit 52; posture information update timing signal detection unit 53; posture recalculation unit

Claims (7)

An optical system that is provided in the camera and has an adjustment lens for adjusting the photographing magnification, and forms an image of the subject;
An angular velocity sensor for detecting the angular velocity of the camera;
An acceleration sensor for detecting the acceleration of the camera;
An attitude calculation unit that calculates an initial attitude of the camera based on an output from the acceleration sensor;
If the photographing magnification is less than a predetermined magnification, and the photographing magnification is at least a predetermined magnification and the initial posture calculated by the posture calculation unit is not reliable, the output from the angular velocity sensor Based on the output from the angular velocity sensor and the output from the acceleration sensor, the shake correction is performed, and the shooting magnification is equal to or greater than a predetermined magnification and the initial posture calculated by the posture calculation unit is reliable. An image stabilization unit for image stabilization,
An image stabilization apparatus comprising: The blur correction device according to claim 1,
The blur correction device performs the blur correction based on the output of the angular velocity sensor until an initial posture is calculated by the posture calculation unit. The blur correction device according to claim 1 or 2,
A correction unit for correcting the output of the acceleration sensor;
When the photographing magnification is equal to or greater than a predetermined magnification and the initial posture calculated by the posture calculation unit is reliable, the blur correction unit outputs the output from the acceleration sensor corrected by the correction unit and the angular velocity sensor. An image stabilization device that performs image stabilization based on the output. The blur correction device according to claim 3,
The correction unit is a shake correction device that removes gravitational acceleration from the output of the acceleration sensor. In the blur correction device according to any one of claims 1 to 4,
When the output from the angular velocity sensor exceeds a threshold value during a predetermined period, the shake correction unit assumes that the initial posture calculated by the posture calculation unit is not reliable, and the output from the angular velocity sensor is predetermined. If the threshold is not exceeded during this period, the shake correction apparatus assumes that the initial posture calculated by the posture calculation unit is reliable. The blur correction device according to any one of claims 1 to 5,
An imaging unit for imaging light incident through the optical system;
An imaging device comprising: An optical system having an adjustment lens for adjusting the shooting magnification and forming an image of the subject;
An acceleration sensor for detecting the acceleration of the optical system;
An angular velocity sensor for detecting an angular velocity of the optical system;
An attitude calculation unit for calculating an initial attitude of the optical system based on an output from the acceleration sensor;
Based on the output from the angular velocity sensor, the photographing magnification is less than a predetermined magnification, and the photographing magnification is at least a predetermined magnification and the posture calculated by the posture calculation unit is not reliable. If the photographing magnification is equal to or greater than a predetermined magnification and the posture calculated by the posture calculation unit is reliable, the blur correction is performed based on the output from the angular velocity sensor and the output from the acceleration sensor. A correction unit;
An image stabilization system comprising

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