JPH0481079A - Picture stablizer for video camera - Google Patents

Abstract

PURPOSE:To correct oscillation only by processing an electric signal and to correct the oscillation of a picture by electrically correcting the oscillation of the picture while matching the phase of the characteristic of an oscillation angle signal for correcting oscillation. CONSTITUTION:When a video camera 1 is oscillated in a longitudinal direction, the picture in a use area 22 is shifted only for a shifting amount x and projected at the position of a shift corresponding area 23. By taking out the picture in the shift corresponding area 23 at a picture signal correction circuit 8, the picture without oscillation is produced. Namely, an oscillation angle corresponding to this picture shift amount x is detected by an angular velocity detector 6 and an integrator 15 and inputted to the picture signal correction circuit 8 as an oscillation angle signal 19 after applying phase compensation. According to this oscillation angle signal, the picture signal correction circuit 8 takes out the picture signal in the shift corresponding area 23, afterwards changes the timing of a synchronizing signal and executes a signal processing so that the corrected picture can be projected at the position of the use area 22. Thus, oscillation can be corrected without fail by the compact and low-priced device.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a video camera. In particular, the present invention relates to an image stabilization device in a video camera.

[Prior art]

When hand-held shooting with a video camera, if there is camera shake, the shooting screen will shake and become difficult to see.

Furthermore, when a video camera is mounted on a car, aircraft, or ship to take pictures, the vibrations or shakes of the vehicle cause the video screen to shake and become difficult to view.

Conventionally, as a means to solve this problem, Japanese Patent Application Laid-Open No. 53-6
Publication No. 4175 describes a method for stabilizing the direction of a photographic lens by supporting a video camera on a gyro mechanism consisting of a directional gyro and a vertical gyro supported by a cymbal mechanism, for use in a monitoring device on a ship, etc. We are taught what to do. If such a gyro-based stabilization mechanism is applied to a normal handheld video camera, the device will become too large and heavy, and the gyro may get in the way when shooting while moving the video camera. There is.

JP-A-61-264326, JP-A-612949
No. 74, JP-A-62-18874, JP-A-6
2-18876, JP-A-62-261283, and JP-A-6326169 disclose a method of supporting a lens barrel that supports a lens and an image sensor using a gimbal mechanism as a means to solve this problem. , a configuration has been proposed in which shaking of the screen is prevented by detecting shaking of the lens barrel and controlling a cymbal mechanism. In these configurations, the shaking of the lens barrel is detected by an angular velocity detector as a change in the angular velocity of the cymbal mechanism, and based on this result, the gimbal mechanism is corrected by electromagnetic means.
There are many mechanical parts and the structure becomes complicated, making the entire device large and heavy.

As a means for solving these problems, Japanese Patent Application Laid-Open No. 64-78581 discloses an image blur correction device for a video camera, which comprises a shake detection means and an image blur correction means. The shake detection means is composed of an arithmetic circuit that detects the correlation between the image signal and a memory output that delays the image signal output from the image sensor by at least one frame, and the image blur correction means is configured to delay the image signal output from the image sensor by at least one frame. It is configured with a memory with a large storage capacity, and image blur is corrected by controlling the writing and reading timing of the imaging signal based on the shake detection signal.

Furthermore, Japanese Patent Application Laid-Open No. 143330/1982 has a solid-state image sensor that transfers charges vertically and horizontally, and the transfer is performed in response to a signal from a swing detection means using a vibration type angular velocity sensor. It is taught to correct image blur.

[Invention or problem to be solved]

With the configuration described in Japanese Patent Application Laid-Open No. 64-78581 mentioned above, it is possible to detect shaking when the object to be photographed is a stationary object, but when the object to be photographed is a moving object, it is possible to detect camera shake. It is difficult to detect camera shake because it is mixed with the movement of the object to be photographed.

Therefore, there may be cases where the shaking cannot be corrected.

Furthermore, in the configuration described in Japanese Patent Application Laid-Open No. 60-143330, shake correction is controlled when reading an image signal from an image detector, which is a solid-state imaging device.
The image signal readout circuit of conventional video cameras must be fundamentally changed.

The present invention solves the problems of the prior art as described above, and also provides a small and low-cost device by performing shake correction by electrical processing of image signals. Furthermore, when correcting shaking electrically,
The present invention also provides a solution to the problem of whether it is necessary to match the screen update characteristics resulting from screen shake scanning with the characteristics of the signal for correcting the shake in the frequency domain.

Furthermore, the present invention provides an apparatus that can perform shake correction by adding a circuit section with shake correction function without fundamentally changing the conventional video camera.

[Means to solve the problem]

In order to solve the above problems, the present invention calculates the amount of image deviation from the focal length and shaking angle of the photographing lens means, processes the image signal based on the calculated deviation amount, and obtains an image signal with the shaking corrected. . That is, the image stabilization device for a video camera of the present invention includes a swing angle detection means for detecting a swing angle of the video camera, and a swing angle detected by the swing angle detection means and the focal length of the lens system of the video camera. deviation amount calculation means for calculating the amount of deviation of the image on the image detector due to the deviation, and respective shaking waveforms between the shaking angle signal detected by the shaking angle detection means and the image shaking of the image signal before shaking correction. and an image signal change signal that changes the timing of the synchronization signal of the image signal so that the amount of deviation is corrected based on the calculation result of the amount of deviation calculation means. Ru.

In order to effectively prevent shaking by distinguishing camera shaking from panning and tilting operations intentionally performed by the photographer, in one aspect of the present invention, camera movement operations performed by the photographer are A filter means is provided to discriminate from the shaking of the image signal, and when a moving operation of the camera is detected, the operation of the image signal changing means is stopped. In addition, when the video camera has a zoom lens means, a means for detecting the zoom position is provided, and the focal length of the lens is calculated from the detected zoom position, and this focal length is used to calculate the image shift due to shaking. use.

Further, in still another aspect of the present invention, there is provided a filter means for distinguishing between a camera movement operation performed by a photographer and camera shaking, and an image signal changing means that stops operating when a camera movement operation is detected. Instead of the stopping means, the shaking angle detecting means is composed of a shaking angular velocity detecting means and a high-frequency integrating means, and the high-frequency integrating means integrates the shaking signal of the video camera and It is designed to have a characteristic of attenuating signals from video camera movement operations performed by the user.

[Effect]

In the present invention, the amount of image deviation due to shaking is calculated from the shaking angle of the video camera and the focal length of the lens system, and the image signal is changed so that the amount of deviation is corrected, so the corrected image signal is does not change due to shaking, which prevents image shaking. Further, by stopping the operation of the image signal changing means when a moving operation of the camera is detected by the filter means, shaking of the image is prevented and panning and tilting operations by the photographer are not obstructed.

Stopping the operation of the image signal changing means is performed independently for each pan operation and tilt operation, so that vertical shake correction is continued during pan operation, and horizontal shake correction is continued during tilt operation. is also possible. In another aspect of the present invention, a high-frequency integration means is provided to output a shaking angle signal in response to shaking, but not to output the signal in response to a movement operation of the camera performed by the photographer. By stopping the operation of the signal changing means, the same function as described above can be obtained.

〔Example〕

Examples will be described below.

[Example 1. Basic System] (a) Overall Configuration Referring to FIGS. 1 and 2, the video camera shown in the figures has a lens system 2. The video camera shown in FIGS. This lens system 2 is an optical system for forming a subject image on an image detector 3,
Either a fixed focus type or a zoom lens type can be used. Behind the lens system 2, a two-dimensional image detector 3 in which solid-state imaging devices such as CCDs are arranged in a matrix is arranged vertically and horizontally. The detection signal of the image detector 3 is sent to the signal processing circuit 4
sent to. This signal processing circuit 4 generates an image information readout control signal to horizontally scan the light receiving element of the image detector 3, and sequentially performs this scanning from top to bottom to image an image using known field scanning and frame scanning. The signal is read out and the image signal 17 is sent to the image signal correction circuit 8.
Output to. The image signal correction circuit 8 is a circuit portion that corrects the input image signal 17 for image shaking caused by camera shake by the photographer, shaking of the vehicle, and the like. A vertical angular velocity detector 6, a lateral angular velocity detector 7, and a correction signal circuit 50 are provided to send a pitch angle signal I9 and a roll angle signal 20 to the image signal correction circuit 8. As the vertical angular velocity detector 6 and the lateral angular velocity detector 7, a small rate gyro may be used, or an angular velocity detector based on another principle, such as a gas rate sensor, etc. may be used.

The correction signal circuit 50 is provided with a tilt filter 11 and a pan filter 12. The tilt filter 11 and the pan filter 12 are filter circuits for distinguishing between shaking of the video camera and panning or tilting operations intentionally performed by the photographer. If there is a pan operation, an output will be generated. Further, the correction signal circuit 50 is provided with a tilt switch 13 that is activated by the output of the tilt filter 11 and a pan switch 14 that is activated by the output of the pan filter 12. The output of the vertical angular velocity detector 6 is sent to the vertical integrator 1 via the tilt switch 13.
5, the outputs of the transverse angular velocity detectors 7 are respectively connected to transverse integrators 16 via pan switches 14. The tilt switch I3 and the pan switch 14 are disconnected when there is input from the tilt filter 11 and the pan filter 12, respectively.
At other times, it is a switch circuit that is closed. The vertical integrator 15 and the horizontal integrator 16 integrate the outputs of the vertical angular velocity detector 6 and the horizontal angular velocity detector 7, respectively, and output a swing angle signal. The outputs of the vertical integrator 15 and the horizontal integrator 16 are connected to a vertical high frequency phase compensation circuit 31 and a horizontal high frequency phase compensation circuit 41, respectively. These circuits 3L41 are circuits that compensate for the high-frequency phase of the signals of the longitudinal angular velocity detector 6 and the transverse angular velocity detector 7, respectively, and each outputs a pitch angle signal 1.
9 and a roll angle signal 20 are generated. These signals19.
20 is input to the image signal correction circuit 8 and used for image shake correction.

In this embodiment, the lens system 2 is a zoom lens, and the lens system 2 is provided with a zoom position sensor 5. The output of the zoom position sensor 5 is input to the image signal correction circuit 8 and used for computation of shake correction according to the zoom position.

The output of the image signal correction circuit 8 is given to a monitor section 9 to generate an image being photographed on the monitor section 9.

Furthermore, the output of the image signal correction circuit 8 is output from the video recorder section 1.
Also given to 0.

(a) Basic function of shake correction The shake correction of the present invention attempts to eliminate image shake from a control engineering perspective by subtracting the image shake using a shake correction signal. Hereinafter, specific means for the shaking correction function will be explained with reference to FIGS. 3 and 4.

In FIG. 3, sensitivity region 21 indicates the entire region where image signals are generated. The shake correction according to the present invention is performed by processing the image signal of the sensitivity region 21 read out from the image detector 3 as follows. The area of the image signal that is finally visualized is set to a usage area 22 narrower than the sensitivity area 21 by subtracting the amount of image shift due to expected shaking. The vertical and horizontal dimensions B and D of this usage area 22 are respectively reduced by 2A and 2C from the sensitivity area. Further, the usage area when either of the deviations becomes the maximum is referred to as a limit correction area 24.

Is the shake correction function performed independently in the vertical and horizontal directions?
Since correction in both directions is basically the same except for some differences, correction in the vertical direction will be explained first.

When the video camera 1 is shaken in the vertical direction, the image in the usage area 22 is shifted by the shift amount ΔX and is reflected in the position of the shift handling area 23. If the image signal correction circuit 8 extracts the signal of the shift corresponding area 23, a screen without shaking can be created. The swing angle corresponding to the image shift amount ΔX is detected by the angular velocity detector 6 and the integrator l.
is input. The image signal correction circuit 8 takes out the image signal of the shift corresponding area 23 based on this swing angle signal, and then changes the timing of the synchronization signal and performs signal processing so that the corrected image is displayed at the position of the usage area 22. Note that "shaking" in this text refers to temporally continuous shaking, and "shift" refers to the deviation of the screen due to shaking.

Referring to FIG. 4, the image signal correction circuit 8 includes a synchronization signal separation circuit 33. This synchronization signal separation circuit 33 is a circuit that separates and outputs vertical and horizontal synchronization signals 61 and 62 from the image signal 17.

The output of the synchronization signal separation circuit 33 is transmitted to the vertical image signal calculation circuit 3.
4, and is input to a horizontal image signal calculation circuit 44 and a horizontal count signal generation circuit 43. The pitch angle signal 19 and the focal length signal from the zoom position sensor 5 of the lens system are also input to the vertical image signal calculation circuit 34, and the circuit 34 receives these signals and synchronization signals 61 and 62 from the synchronization signal separation circuit 33. An image shift amount ΔX is calculated from the above, and this is converted to the time axis to generate a vertical image extraction signal 37 and a vertical synchronization correction signal 38. The vertical image take-out signal 37 is a rectangular wave signal that starts by counting the number of scanning lines included in A+ΔX in FIG. 3 and ends by counting the number of scanning lines included in A+B+ΔX in FIG. be. The vertical synchronization correction signal 38 is a pulse signal generated by counting the number of scanning lines included in ΔX using the vertical synchronization signal 61 as a reference.

The amount of deviation ΔX is calculated using the signal from the zoom position sensor 5 as follows. FIG. 5 shows that when a downward shift occurs in the lens system 2 having a focal length f, an amount of shift ΔX of the image on the image detector 3 occurs. Image shift amount ΔX, focal length f of lens system 2, and swing angle Δθ
The relationship is expressed by the following equation.

Δx−f−tanΔθ×f−Δθ−−−−1 (11 In the case of a zoom lens, the focal length f is expressed by the following functional relationship with respect to the zoom position Z.

f = F(z) The following relationship is obtained from equations (1) and (2).

Δx=F(z)・tan Δθ：F(z)・Δθ
--- (3) The vertical image calculation circuit 34 receives the pitch angle signal 19 corresponding to Δθ and the zoom position signal,
The amount of deviation ΔX of the image on the image detector 3 is calculated by calculation based on equation (3).

The vertical synchronization correction signal 38 is input to the vertical synchronization signal generation circuit 35. This circuit 35 generates a new vertical synchronization signal 39 based on the vertical synchronization correction signal 38, and this signal 39 is input to the vertical changeover switch 36.

The image signal 17 is input to this changeover switch 36, and the switch 36 is activated by the vertical image extraction signal 37. That is, the switch 36 outputs the vertical image extraction signal 3.
During the output period of 7, the image signal 17 is output, and during the period when there is no signal 37, the new synchronization signal 39 or the pedestal level is output. This output is passed through a horizontal changeover switch 46, where it undergoes horizontal shake correction, becomes an image signal 18, is sent to the monitor section 9, and is reproduced as an image.

In this image reproduction, since scanning is performed from the upper end of the monitor section 9 using the new vertical synchronization signal 39, the image is returned to the position of the shift handling area 23 or the usage area 22 and reproduced.

Next, correction of horizontal shaking will be explained. The basic difference between vertical and horizontal shake correction is related to operating speed. That is, signal processing for vertical shake correction is performed for each field, whereas horizontal shake correction is performed for each scanning line, so the processing speed for horizontal shake correction is faster than for vertical shake correction. However, the screen is updated vertically and horizontally for each frame, so it is the same. As described above, the signal processing for vertical shake correction was performed by counting the number of scanning lines using the vertical synchronization signal 61 as a starting point. On the other hand, signal processing for horizontal shake correction is
Since it is necessary to perform this for each scanning line, it is necessary to newly generate a signal for horizontal counting. The horizontal counting signal is a signal with a frequency obtained by multiplying the horizontal scanning frequency by the required horizontal resolution. For example, if the required horizontal resolution is 300 lines, the horizontal scanning frequency is 15.73 in the NTSC standard example.
Since it is 4KHz, the frequency of the horizontal counting signal is 15.734X 300-4720.2KHz=4.7
It becomes 202 MHz. This is generated in the horizontal count signal generation circuit 43. The functions of the horizontal image signal calculation circuit 44 and the horizontal changeover switch 46 are those of the vertical image signal calculation circuit 34, except that the frequency for counting is different between the vertical and horizontal directions.
and vertical selector switch 36. A new horizontal synchronization signal 49 is generated in the horizontal synchronization signal generation circuit 45. The new horizontal synchronization signal 49 and horizontal image extraction signal 47 are input to the gate circuit 32. The gate circuit 32 is a circuit for changing the time period in which the horizontal image extraction signal 47 and the new horizontal synchronization signal 49 are output, and outputting them as signals 47a and 49a, respectively.

The process of the above-mentioned shake correction is shown in FIG. 6 in chronological order. Although FIG. 6 is a diagram showing the signal waveform of the I field, it is simplified as follows for convenience of illustration. That is, in the example of the NTSC standard, the number of scanning lines in one field of the image signal is 262.5, or this is shown as 10 lines. Further, the actual vertical synchronization signal is composed of a complex pulse train including equivalent pulses, burst signals, etc., or it is a simple rectangular wave. Also, the waveform of the image signal of one scanning line between the horizontal synchronization signals has a complicated shape depending on the color and brightness of the image, or it is shown by simplifying it into a semi-ellipse.

FIG. 6(a) shows the waveform of the image signal 17 before shake correction. 6(b) shows the waveform of the vertical image extraction signal 37, and FIG. 6(C) shows the waveform of the vertical synchronization correction signal 38. Here, since the image shift amount ΔX is an amount based on the swing angle signal, it can be positive or negative. Therefore, it is also necessary to generate the vertical synchronization correction signal 38 before the vertical synchronization signal 61. For this purpose, actually, based on the vertical synchronization signal 61, a delay time equivalent to 1/60 seconds plus Δχ is given to the vertical synchronization correction signal 38.
is occurring. That is, the vertical synchronization correction signal 38 is generated based on the vertical synchronization signal 61 one field earlier than shown. In FIG. 6, for convenience of illustration, the delay for one field is omitted.

FIG. 6(d) shows the waveform of the new vertical synchronization signal 39 generated based on the vertical synchronization correction signal 38. The waveform of FIG. 6(a) and the waveform of FIG. 6(d) are switched by the vertical changeover switch 36 according to the vertical image extraction signal 37, and the waveform of FIG.
e) The vertical changeover switch output signal 40 shown in the figure is obtained.

FIGS. 6(f) to 6(k) are waveform diagrams relating to horizontal vibration correction. In the horizontal case, in order to perform shake correction for each scanning line as described above, the deviation amount Δy and the horizontal screen size C
This differs from the vertical one in that the time width corresponding to and D is obtained using the horizontal count signal.

FIG. 6(f) shows the waveform of the horizontal image extraction signal 47.

For the signal 47, a time width corresponding to C-Δy and D is obtained by counting the horizontal count signal using the horizontal synchronization signal 62 as a reference.

FIG. 6(g) shows the waveform of the horizontal synchronization correction signal 48.

Similar to the vertical image displacement amount ΔX, the horizontal image displacement amount Δ
Since y can also be positive or negative, it is also necessary to generate the horizontal synchronization correction signal 48 before the horizontal synchronization signal 62. Therefore, based on the horizontal synchronization signal 62, the horizontal synchronization correction signal 48 is generated by giving a delay corresponding to the scanning time of one scanning line plus a time corresponding to Δy. In FIG. 6, the delay in scanning time for one scanning line is omitted. The sixth signal is synchronized with the horizontal synchronization correction signal 48.
(h) A new horizontal synchronization signal 49 shown in the figure is generated.

FIG. 6(1) shows the waveform of the signal 47a. The signal 47a receives the vertical image extraction signal 37, the horizontal image extraction signal 47, and the new vertical synchronization signal 39, processes it in the gate circuit 32, and obtains its output. FIG. 6(c) shows the waveform of signal 49a. The signal 49a is input to the gate circuit 3 by inputting the new horizontal synchronization signal 49 and the new vertical synchronization signal 39.
2, the new horizontal synchronization signal 49 is processed so as not to be output during the output period of the new vertical synchronization signal 39, and is obtained as its output.

The waveform of FIG. 6(e) and the waveform of FIG. 6(j) are switched by the horizontal changeover switch 45 according to the waveform of FIG. 6(i) to produce a corrected image signal 18 as shown in FIG. 6fk1. can get.

The selection of the dimensional ratio between A and B in FIG. 3 is as follows. If the lens system 2 is a zoom lens, the angle of view becomes smaller when the lens is telephoto, so a larger A/B ratio is required for the same swing angle of the video camera 1 than when the camera is wide-angle. Also,
At telephoto, the effect of shaking appears to be greater than at wide-angle, making the screen even harder to see. Therefore, it is necessary to determine the A/B ratio based on the maximum focal length (telephoto). The shaking angle of the video camera 1 due to camera shake or shaking of a vehicle, etc. is estimated to be approximately ±1" to 2" from experimental results. on the other hand,
The angle of view with respect to the maximum focal length of a 6x zoom lens is about 8°. If the maximum swing angle of the video camera 1 is ±15°, the ratio of A to B is selected to be approximately 20% to 60%. In the case of lens system 2 or a fixed focus lens with an angle of view of about 30°, assuming that the maximum swing angle of video camera 1 is 15°, then A
Pair B is selected to be about 5% to 90%. In general, shaking such as hand shake is greater in the vertical direction than in the horizontal direction, so A vs. B
The ratio is chosen as described above, and the C to B ratio is chosen to be the same as the A to B ratio.

In the explanation so far, in the case of lens system 2 or zoom lens,
Although the A/B ratio is constant regardless of the focal length, if the A/B ratio is changed according to the focal length, the sensitivity range of the image detector 3 can be used more effectively to perform shake correction. Next, this method will be explained.

With a zoom lens, the angle of view and focal length are inversely proportional.

Since the height dimension 2A-'B of the sensitivity region 21 is proportional to the angle of view, the angle of view corresponding to the dimension 2A+B can be determined based on the output of the zoom position sensor 5. For example, if the swing angle is 15 degrees, dimension B is 3 degrees from the angle of view.
Dimensions A and B can be determined as corresponding to angles minus degrees. Expressing these relationships using the formula, θ=k (2A+B) θ=f (z) where θ is the angle of view, k is the proportional coefficient between the angle of view and the dimension 2A+B, and f (z) is the z- is a function between the frame position 2 and the angle of view θ. If the fluctuation is ±Δθ and kA=Δθ, then A=Δθ] The calculation of equation (6) is performed in the image signal calculation circuit 34.44, and the number of vertical scanning lines is counted and the horizontal count signal is calculated. After counting, the image extraction signal 3 corresponding to equation (6) is obtained.
By generating 7.47, it is possible to select the most effective area to use according to the zoom position and perform shake correction.

As described above, the limit correction area 24 is determined by the maximum value of the deviation amounts ΔX and Δy based on the expected shaking.

However, if the actual shaking is larger than expected, it will be viewed from either the shift handling area 23 or the sensitivity area 21. If correction is continued in this state, a portion of the screen will be chipped. To avoid this, the expected deviation amount △X
1. Define the limit correction area 24 corresponding to the maximum value of △y, and correct it so that under conditions where it protrudes from the deviation handling area 23 or the sensitivity area 21, the image in this limit correction area 24 is always projected at the position of the usage area 22. I do.

This outputs a pitch angle signal 19 and a roll angle signal 20 to the vertical image signal calculation circuit 34 and the horizontal image signal calculation circuit 44, respectively.
This can be implemented by providing a limiter.

(1) Identification of panning and tilting operations When the photographer performs a tilting or panning operation, the tilt switch 13 or the pan switch 14 is turned off as described above, and the outputs of the integrators 15 and 16 are held. Therefore, the correction of the image signal 17 is interrupted, and the moving captured image signal is output from the image signal correction circuit 8. When there is no tilt or pan operation, the tilt switch 13 or the pan switch 14 is closed, the shake is corrected, and the shake-corrected image signal 18 is output from the image signal correction circuit 8.

In this way, when the photographer tilts the video camera 1 vertically or pans it horizontally, the filter circuits 11 and I2 identify the operation as shaking, or the filter circuits 11 and I2 detect this as a vertical tilt. The case of operation will be explained.

Representative examples of output waveforms of the vertical angular velocity detector 6 in response to shaking and tilting operations of the video camera 1 are shown in FIGS. 7 and 8, respectively. Focusing on the difference in the frequency domain of these waveforms, the filter circuit 11 can separate and detect the tilt operation from the shaking. Here, the transfer function of the filter circuit 11 is, for example, a low-pass filter expressed by the following equation.

(2) Here, G+(s) is the transfer function of the filter, T is the time constant of the filter, n is the order of the filter, and S is the Laplace operator.

The frequency characteristics of equation (7) are as shown in FIG. As shown here, by selecting the value of 1/2πT higher than the frequency of the tilt operation signal waveform and lower than the frequency of the shaking waveform, it is possible to output only the tilt operation signal from the filter circuit 11. . This output waveform is the second
It is applied to the tilt switch 13 in the figure to turn off the switch circuit. Therefore, during tilt operation, the image signal correction circuit 8
Since the correction function is stopped, the image signal of the moving screen according to the tilt operation is output.

Regarding the horizontal panning operation, the panning filter 12 and the panning switch 14 operate in the same manner as for the vertical tilting operation. In addition, tilt switch 1 for tilt operation
3 and the panning switch 14 for panning are performed independently, so that it is possible, for example, to obtain an image that is panned in the horizontal direction while correcting vertical shaking.

(1) Function of high-frequency phase compensation In the page pull process for image shake correction, the amplitude of the shake waveform of the image shake and the shake angle signal 19.20 match, and the phases are also equal. Otherwise, it will be impossible to completely correct the shaking.

Since the image signal 17 with shaking is formed by well-known field scanning and frame scanning, for example, an NTSC standard image is updated every 1730 seconds. During the update, the image is retained due to the afterimage effect of the eye, so the image signal 17
The update frequency characteristic has a sample ant-hold characteristic of 1730 seconds with respect to physical shaking of the video camera 1.

On the other hand, the output of the integrator 15.16 is the output of the angular velocity detector 6.7
Since the output angular velocity signal is the integrated shaking angle signal, the frequency characteristics of this signal have frequency characteristics unique to the angular velocity detector and the integrator. Generally, there is a phase difference in the high frequency range between the frequency characteristic of image updating due to image shaking and the frequency characteristic of the signal output from the integrator.

In order to eliminate this phase difference, the high frequency phase compensation circuit 31.4
Use 1. The details of the functions of the high-frequency phase compensation circuits 31 and 41 will be explained below.

FIG. 10 is a block diagram showing the control function of the present invention.

Since the vertical direction and the horizontal direction are the same, the vertical direction will be explained. In FIG. 10, R(s) is the transfer function of the vertical angular velocity detector 6, H(s) is the transfer function of the vertical high frequency phase compensation circuit 31, D(s) is the transfer function of the image update of the image signal 17, S
is the transfer function or Laplace operator of the differential characteristic, 1/S is the transfer function of the vertical integrator 15, Δθ is the shaking angle of the video camera 1, and θS is the image stabilization axis angle, that is, the center of the shake or stabilized image. Indicates the value obtained by converting the movement of to the angle of view. From FIG. 10, it can be seen that when the following formula (8) is satisfied, θS becomes zero for the input of Δθ, and the image is stabilized.

The characteristics of the high frequency phase compensation circuit H(s) will be explained below using numerical examples.

As described above, D(s) is the image update characteristic of the image signal 17, and in the example of the NTSC standard, it is a sample-and-hold characteristic of 1730 seconds. FIG. 11 shows the frequency characteristics in this case. Moreover, the transfer function is shown by the following equation.

FIG. 12 shows frequency characteristics of an example when a gas rate sensor is used as the vertical angular velocity detector 6.

This transfer function is expressed by the following equation.

H(s) that satisfies equation (8) when D(s) and R(s) have the characteristics of equation (9) and α0), respectively.
The characteristic can be obtained from the phase difference between FIGS. 11 and 12 by cutting and trying to find H(s) having this phase difference as the phase characteristic. H(s) in the case of this numerical example is given by the following formula.

The frequency characteristics of the aD formula are shown in FIG. Further, FIG. 14 shows the frequency characteristics of R(s) H(s), which is the right side of equation (8). The frequency of shaking of the video camera l due to hand shake or the like can be considered to be 1 OHz or less even including its high frequency components. The frequency characteristics of FIG. 11 and FIG. 14 match in the frequency range below 10 balls, and the relationship of equation (8) is satisfied.

Here, if the vertical high frequency phase compensation circuit 31 is not provided, the vibration will be corrected by subtracting the characteristics shown in FIG. 11 and FIG. 12. For example, if there are two swinging rods, there is a phase difference of approximately 10' between the two figures. Therefore, the image shake cannot be reduced to less than 17% with respect to the shake angle of the video camera l. By appropriately selecting the characteristics of the vertical high frequency phase compensation circuit as described above, it becomes possible to reliably correct the shaking. In the above, it is assumed that there is no calculation delay in the vertical image signal calculation circuit 34, or if there is a delay in this calculation, the characteristics of the vertical high frequency phase compensation circuit 31 are selected in consideration of the delay. There must be. Even when using an angular velocity detector other than the gas rate sensor, the characteristics of H(s) can be determined according to the numerical example described above.

(A) Use of Acceleration Sensor In the present invention, an acceleration sensor may be used as the angular velocity detector 6.7 instead of a rate gyro or a gas rate sensor. This case will be explained.

Two accelerometers are fixed to a video camera 1 with a distance apart. At this time, the angular acceleration of the video camera 1 is expressed by the following equation.

θ= (x+ 1X2)/L ---(1
2) Here, θ is the angular acceleration of the video camera l, Xll
X2 is the acceleration detection value of each of the two accelerometers, and the direction in which the sign produces positive θ is positive. L is the distance between the detection axes of the two accelerometers. The angular acceleration signal of the video camera 1 is obtained by calculating the output signals of the two accelerometers according to Equation 02.

By integrating this, an angular velocity signal can be obtained, so the angular velocity detector 6.7 consists of two acceleration sensors and CIZ
It can be configured by an arithmetic circuit that calculates the formula and an integrator.

(Force) Others As explained above, the present invention performs shake correction by adding a shake correction circuit part without fundamentally changing the conventional video camera part (indicated by the dotted line in Figure 2). be.

Therefore, the present invention can be easily applied to conventional off-the-shelf video cameras.

[Example 2. System with Low-frequency Phase Compensation Circuit] The structure of the video camera of this embodiment is the same as that shown in FIG. 15th
The figure shows a functional block diagram of this embodiment. Differences between the embodiment of FIG. 15 and the embodiment of FIG. 2 will be explained below. Since the vertical direction and the horizontal direction are the same, the vertical direction will be explained.

In the device shown in FIG. 15, only the tilt filter 11 and the tilt switch 13 in the device shown in FIG. 2 are not provided. Instead, a vertical high frequency integrator 53 is used in place of the vertical integrator 15, and a vertical low frequency phase compensation circuit 55 is added. The vertical high frequency integrator 53 functions as an integrator for the frequency band of shaking of the video camera 1, and outputs a shaking angle signal. Furthermore, it has a characteristic of attenuating the angular velocity signal in the frequency band of the tilt operation performed by the photographer. The transfer function is expressed, for example, by the following equation.

c Here, F(s) is the transfer function of the vertical high frequency integrator 53: T is a time constant that determines the frequency band of integration. The gain characteristics of Equation 03 are shown in FIG. 172 in Figure 16
The value of πT is selected to be higher than the frequency of the panning and tilting signal waveforms and lower than the frequency of the shaking waveform, as in the panning and tilting filter in Example 1.
This is suitable for the purpose of the vertical high frequency integrator 53. The output of this vertical high frequency integrator 53 is input to a vertical low frequency phase compensation circuit 55.

The purpose of the vertical low frequency phase compensation circuit 55 is that since the vertical integrator 15 in the first embodiment is replaced with the vertical high frequency integrator 53 in the second embodiment, the phase characteristics in the low frequency range are different compared to the vertical integrator 15. , to compensate for this so that the condition equivalent to that explained in equation (8) is satisfied. The vertical high-frequency integrator 53 reduces the gain of frequencies below 1/2πT, but this is accompanied by a change in phase at the same time, and the phase change in parentheses is much broader than the gain change, and extends to the frequency band of fluctuation. . This will be further explained using a numerical example.

Now, suppose that the constant of the high-frequency integrator 53 is selected to be 1/2πT=0.1. At this time, inserting the numerical value into formula 03 results in the following formula.

(The phase curve of Equation 141 is shown by the solid line in FIG. 17.

The dashed-dotted line in FIG. 17 is the phase characteristic of the vertical integrator 15 of Example I, and the difference between the solid line and the dashed-dotted line is the change in phase due to the decrease in the low-frequency gain of the vertical high-frequency product/divider 53. be. In order to make it equivalent to the equation (8) being satisfied in Example 1,
It is necessary to compensate for the phase difference between the solid line and the one-dot chain line in FIG. 17 using the vertical low frequency phase compensation circuit 55.

There are various possible characteristics of the vertical low frequency phase compensation circuit 55. First, a method using a known phase delay circuit will be described. An example of the phase lag circuit characteristics suitable for the above-mentioned numerical example is the following formula % Formula % Here, T(s) is the transfer function of the phase lag circuit.

The frequency characteristics of the 09 formula are as shown in FIG. When the characteristics of the vertical low frequency phase compensation circuit 55 are as shown in FIG. 18, the combination F of the vertical high frequency integrator 53 and the vertical low frequency phase compensation circuit 55 is
(s) The phase of X T(s) is as shown by the dotted line in FIG. The question remains as to whether the vertical low frequency phase compensation circuit 55 can improve the phase characteristics near the first output by approaching the one-dot chain line. In other words, the phase compensation is not sufficient, and 1)
At frequencies below 1z, a phase difference between the dotted line and the one-dot chain line remains. Also, since the gain characteristics shown in Fig. 18 increase in the low frequency region, when combined with a vertical high frequency integrator, the first
This increase in gain in the low frequency region is added to the gain shown in FIG. 6, which prevents the vertical high frequency integrator 53 from reducing the gain at frequencies below 1/2πT.

Next, the low frequency phase compensation circuit 55 according to the present invention that can solve this problem will be explained. FIG. 19 shows its functional block diagram. A circuit diagram of the all-pass circuit 71 in the block of FIG. 19 is shown in FIG. The all-pass circuit is well known, and its transfer function is expressed by the following equation.

Here, 2(s) is the transfer function of the all-pass circuit 71, and T is its time constant. The characteristics of the all-pass circuit 71 are that the gain remains constant regardless of frequency, and only the phase changes with frequency. The phase curve of the all-pass circuit 71 when 1/2πT=0.1 is shown by the circled line in FIG.

The characteristics of the low-frequency phase compensation circuit 55 of the present invention are as shown by the two-dot chain line in FIG. 17, and are constant regardless of gain or frequency.

When the low-frequency phase compensation circuit 55 and the high-frequency integrator 53 having this characteristic are combined, the phase characteristic is the same as that of the integrator 15 in Embodiment 1 as shown by the dashed line in FIG. 17, and the parentheses characteristic is The characteristics are as shown in FIG. Therefore, a condition equivalent to the condition of equation (8) described in the first embodiment is satisfied.

The transfer function of the low frequency phase compensation circuit of the present invention is expressed by the following equation. Also, what is suitable for this numerical example, that is, T = 110.6
The formula when the time is 28 seconds is also shown at the same time.

0,628 Here, Y(s) is the transfer function of the low-frequency phase compensation circuit 55, and T is its time constant.

The following equations show that the circuit shown in FIG. 19 provides the characteristics of equation (17j).

Ts+1 C × Equation (21) is obtained by dividing the input C by the denominator of the divider 72 and multiplying the output E of the divider 72 by the input C in FIG. However, as shown by the fact that equation (21) has an unstable root in the denominator, when the denominator input is zero in FIG. 19, the output of the divider 72 becomes unstable. Therefore, the upper end determination circuit 75 determines a value near zero, which is the value of the denominator that makes the divider 72 unstable. That is, it is determined whether the value is greater than or equal to a predetermined value near zero. If the condition is below, a signal is sent to the switch circuit 74 to switch the switch circuit 74 from the illustrated position and set the output of the switch circuit 74 to zero. As described above, the characteristic of equation (21) can be stably realized.

By combining the vertical high frequency integrator 53 having the phase characteristic shown by the solid line in FIG. 17 and the vertical low frequency phase compensation circuit 55 of FIG.
A phase characteristic as shown by a dashed dotted line can be obtained.

The condition of equation (8) in Example 1 is the following equation in this example.

D(s) −R(s)・P(s)・H(s)・Y(s
) -...-(22) Here, D(s): Transfer function of image update of the image signal 17 R(s): Transfer function F(s) of the winding angular velocity detector 6:
Transfer function H(s) of the vertical high frequency integrator 53: Transfer function Y(s) of the vertical high frequency phase compensation circuit 31: Transfer function of the vertical low frequency phase compensation circuit 55 In a numerical example, the following equation is obtained.

In Equation (23), both the gain and phase match in the frequency range of image shaking accompanying image updating and the shaking angle signal 19 for correction, or the shaking of the video camera 1.
Shake correction can be performed reliably by the subtraction process.

Is it possible to implement the circuit shown in FIG. 19 using an analog circuit? A digital circuit is preferable from the viewpoint of accuracy. Divider 72
The inputs C and E are digitized by an AD converter, subjected to division and multiplication by the digital signals, and then converted back to analog signals by a DA converter. The upper limit determination circuit 75 determines whether the minimum resolution of the digital signal is below or above the minimum resolution value.

The low frequency phase compensation circuit of the present invention explained above is shown in FIG.
(s), that is, as shown by the two-dot chain line, it has a characteristic that the phase advances as the frequency increases. Generally, a circuit that has a characteristic in which the phase advances as the frequency increases is called a phase advance circuit, or conventional phase advance circuits have a gain characteristic in which the gain increases in the high frequency range compared to the low frequency range. The low-frequency phase compensation circuit of the present invention is a novel circuit that maintains a constant gain and has phase advance characteristics.

Except for the purpose explained above, this is the same as in the first embodiment.

Further, the horizontal direction functions in the same manner as the vertical direction described above.

In the method of using an acceleration sensor as the swing angle detection means described in Example 1, the angular acceleration signals from the two acceleration sensors are applied to the two-stage high-frequency integrator in combination with the high-frequency integrator in this example. By doing this, it is possible to output a shaking angle signal in the frequency band of shaking, and attenuate the signals of panning and tilting operations performed by the photographer so that they are not output in the frequency band of signals of panning and tilting operations performed by the photographer. Therefore, in the second embodiment as well, an acceleration sensor can be used as the sensor of the swing angle detection means.

[Embodiment 31: System with screen enlargement function] In this embodiment, the screen size is enlarged and the image is displayed on the entire surface of the monitor unit 9.

FIG. 21 is a functional block diagram of the image signal correction circuit 8 of the third embodiment. The parts other than the second image signal correction circuit 8 are the same as those in the first embodiment or the second embodiment.

In FIG. 4, a new synchronization signal 39.49 from the vertical synchronization signal generation circuit 35 and the horizontal synchronization signal generation circuit 45 is added to the image signal of the shift corresponding area 23 shown in FIG. 3 by the changeover switch 36.46. , In the circuit of FIG. 21, the new synchronization signal 39.49
will not be added. In addition, the synchronization signals 61 and 62 are removed from the image signal 17 in the synchronization signal removal circuit 30.

In this embodiment, the output 83 of the horizontal changeover switch 46 is input to the screen enlargement circuit 81. This screen enlargement circuit 81 is
The image signal is processed so that the entire screen displayed on the monitor unit 9 is displayed, and the processed image signal 84 is input to the synthesis circuit 82. In this synthesis circuit 82, a new synchronization signal 39.49 is added to the image signal 84.

A functional block diagram of the screen enlargement circuit 81 is shown in FIG.

Analog image signal 83 is digitized by AD converter 85 and input to image storage circuit 86 . This circuit 86 is a memory with a storage capacity of two scanning lines or more, and the storage control circuit 86 uses the new synchronization signal 39.49 as a reference.
Only writing and reading are controlled by . The read signal is returned to an analog signal in the DA converter 87. FIG. 23 shows a waveform explanatory diagram of the screen size enlarging function of the screen enlarging circuit 8I. In FIG. 23, similar to FIG. 6, the waveforms are shown in a simplified manner. FIG. 23(a) is a waveform diagram of the image signal 17, FIG. 2:Nb1 is a waveform diagram of the analog image signal 83, and FIG. 23(C) is a waveform diagram of the output signal 8 of the synthesis circuit.
FIG. 9 is a waveform diagram of No. 9. FIG. 23(a) shows the image signal of the sensitivity area 21 in FIG. 3, and in order to prevent image quality deterioration after reproduction,
The number of elements in the image detector 3 is increased from that in the first embodiment.

FIG. 23 tb1 shows an image signal of the deviation corresponding area 23 without a synchronization signal. Part 2: New synchronization signal 3 in HCl diagram
9.49 has a longer period than the vertical synchronizing signal 61 and the horizontal synchronizing signal 62. The image signal shown in FIG. 23(b) is stored in the storage circuit 86. The signals stored in the storage circuit 86 are read out based on the new synchronization signal 39.49. This results in a signal whose screen is enlarged both vertically and horizontally. The new synchronization signals 39 and 49 are then synthesized in the synthesis circuit 82 and added to the position shown in FIG. 23fC1. The screen enlarged image signal 89 is given to the monitor section 9 and visualized. Since the monitor section 9 is generally scanned according to standards such as the NTSC standard, the screen enlarged image signal 89 needs to be a signal according to the NTSC standards. Therefore, the image signal 17 is read out from the image detector 3 faster than the NTSC standard, etc. by the increase in the number of elements.

Next, a method of enlarging the screen without increasing the number of elements of the image detector 3 will be described. In this case, the image detector 3
The image signal 17 is read out so that the signal complies with standards such as NTSC.

The size of the usage area 22 in FIG. 3 is set to half the sensitivity area 21, that is, A=B/2, and the screen enlargement circuit
When reading out image signals, the number of scanning lines is doubled using the known scan conversion technique. The purpose can be achieved by making the new synchronization signal 39.49 a signal of a standard such as NTSC. FIG. 24 shows an explanatory diagram of the screen enlargement function by scan conversion. Similarly to FIG. 6, FIG. 24 also shows a simplified waveform. Tatashi,
One field is shown as having 12 scanning lines. Second
4 fa) is a waveform diagram of the image signal 170.

Figure 24 (BL) is an output waveform diagram of the horizontal switching switch 46. Figure 24 (C1) is an output waveform diagram of the output of the combining circuit 82, that is, the image signal 89. The signal, that is, the signal of one peak in the figure is read out twice.Therefore, the number of scanning lines of the reproduced image is the same as the number of scanning lines in the sensitivity area 21, and the deterioration of image quality due to screen enlargement is prevented. Ru.

In this embodiment, the vertical changeover switch 36 and the horizontal changeover switch 46
Since the new synchronization signal 39.49 is not added in the synthesis circuit 82, the gate circuit 32 described in FIG. 4 is unnecessary.

〔Effect of the invention〕

In the present invention, the image shaking of the image signal accompanied by the shaking of the video camera is corrected by the shaking angle signal detected by the shaking angle detection means, and the updating characteristics of the shaking image and the shaking angle signal for correcting the shaking are provided. Since the image shake is electrically corrected by matching the phases of the characteristics, the shake can be corrected only by processing electrical signals, and the image shake can be reliably corrected. Shake correction can be automatically stopped when the photographer operates the camera, making the operation more convenient. Furthermore, the present invention can be easily applied to ready-made video cameras.

[Brief explanation of drawings]

Fig. 1 is a side view of a video camera showing an embodiment of the present invention, Fig. 2 is a functional block diagram showing the overall system of an embodiment of the invention, and Fig. 3 is an explanatory diagram of the shake correction function of the video camera. , Fig. 4 is a functional block diagram of the image signal correction circuit, Fig. 5 is a schematic diagram showing the relationship between the swing angle Δθ and the deviation amount ΔX, and Fig. 6 (a) (bl (C1 (d) (e) (f) ((
a) (jHh) (i) ijl (kl is an explanatory diagram of the waveform of shake correction in the image signal, Figure 7 is a diagram showing an example of an angular velocity signal based on the shake of the video camera, Figure 8 is the tilt operation of the video camera) Figure 9 is a diagram showing an example of an angular velocity signal based on Figure 12 is a diagram showing the frequency characteristics of an example of a gas rate sensor, Figure 13 is a diagram showing the frequency characteristics of an example of a high-frequency phase compensation circuit, and Figure 14 is a diagram showing the frequency characteristics of an example of a high-frequency phase compensation circuit. Figure 15 is a functional block diagram of the overall system of another embodiment of the present invention; Figure 16 is a diagram showing the frequency characteristics of one example of circuit combination; Figure 17 is a diagram showing the gain characteristics of a high-frequency integrator; The figure is a diagram explaining the phase characteristics, Figure 18 is a diagram showing an example of the frequency characteristics of the phase lag compensation circuit, Figure 19 is a functional block diagram of the low-frequency phase compensation circuit, and Figure 20 is a functional block diagram of the all-pass circuit. , 21st
22 is a functional block diagram of a screen enlargement circuit in the circuit of FIG. 21, and FIG. 23 is a functional block diagram of an image signal correction circuit according to another embodiment of the present invention. FIG. 24 is an explanatory diagram for enlarging the screen without increasing the number of image detector elements. ■...Video camera, 2...Lens system, 3...Image detector, 4...Signal processing circuit, 5...Zoom position sensor, 6...Vertical angular velocity detector, 7... - Angular velocity detector, 8... Image signal correction circuit, 9... Monitor section, 10-... Video recorder section, 11... Tilt filter, 12-... Pan filter, 13... Tilt switch , 14-- Pan switch, 15- Vertical integrator, 16- Horizontal integrator, 31- Vertical high frequency phase compensation circuit, 4 Vertical image signal calculation circuit, 6 Vertical Changeover switch, 1... Horizontal high frequency phase compensation circuit, 4... Horizontal image signal calculation circuit, 6... Horizontal switching switch, 3... Vertical high frequency integrator, 4... Horizontal high frequency integration 5... Vertical low frequency phase compensation circuit, 6... Horizontal low frequency phase compensation circuit, 1... Screen enlargement circuit, 2... Synthesizing circuit. Fig. 6 Vertical angular velocity detector Fig. 6 Frequency characteristics of D(s) Fig. 12 Frequency characteristics of R(s) Fig. Frequency characteristics of H(s) Fig. R(5) N8 wavenumber characteristic of H(5)

Claims (10)

[Claims] (1) (a) A shaking angle detection means for detecting the shaking angle of the video camera; (b) An image detector that detects the shaking caused by the shaking based on the focal length of the lens system of the video camera and the shaking angle detected by the shaking angle detection means. (c) compensating the phase between the respective shaking waveforms of the shaking of the image signal of the video camera and the shaking angle signal detected by the shaking angle detection means; A video camera image comprising: phase compensation means; and (d) image signal correction means for changing the timing of a synchronization signal of an image signal so that the deviation amount is corrected based on the calculation result of the deviation amount calculation means. Stabilizer. (2) A photographing lens system, an image detector arranged on the optical axis of the lens system and having a two-dimensionally expanded sensitivity region, and an image signal for reading out the detection signal of the image detector as an image signal. A video camera comprising: (a) a swing angle detection means for detecting a swing angle of the video camera; and (b) a swing angle detected by the focal length of the lens system of the video camera and the swing angle detected by the swing angle detection means. (c) deviation amount calculation means for calculating the amount of deviation of the image on the image detector due to the deviation of the image on the image detector; (d) image signal correction means for changing the timing of the synchronization signal of the image signal so that the amount of deviation is corrected based on the calculation result of the amount of deviation calculation means; An image stabilizing device for a video camera, wherein the image signal correction means is configured to correct image signals in a predetermined range narrower than a sensitivity range detected by the image detector. (3) The image stabilizing device for a video camera according to claim 1 or 2, further comprising a filter means for identifying a video camera movement operation performed by a photographer from shaking of the video camera; An image stabilizing device for a video camera, comprising a stop means for stopping the operation of the image signal correction means when detected. (4) In the image stabilizing device for a video camera according to claim 1 or 2, the shaking angle detection means includes: (a) angular velocity detection means for detecting the angular velocity of the video camera; and (b) angular velocity detection means for detecting the angular velocity of the video camera; An image stabilization device for a video camera, comprising: high-frequency integration means having a characteristic of integrating a signal and attenuating a signal of a video camera movement operation performed by a photographer. (5) In the image stabilizing device for a video camera according to any one of claims 1 to 4, the video camera has a zoom lens means, and a zoom position detection means for detecting a zoom position of the zoom lens means; An image stabilizing device for a video camera, comprising calculation means for calculating the focal length of the zoom lens means from the detection amount of the zoom position detection means. (6) In the image stabilizing device for a video camera according to claim 5, the size ratio between the sensitivity region and a predetermined range narrower than the sensitivity region whose shift amount is corrected by the image signal correction means is set by a zoom lens. An image stabilization device for a video camera, characterized in that the image stabilization device is changed by a signal of a zoom position of the video camera. (7) In the image stabilizing device for a video camera according to any one of claims 1 to 5, the image signal storage means has a storage capacity of two or more scanning lines, and when the image signal is visualized, the screen size is An image stabilizing device for a video camera, characterized in that a control means is provided for controlling writing and reading of an image signal into the image signal storage means so that the image signal is enlarged. (8) In the image stabilizing device for a video camera according to any one of claims 1 to 3 and claims 5 to 7, the swing angle detection means comprises an acceleration sensor and a plurality of integration means. Image stabilization device in camera. (9) The image stabilizing device for a video camera according to claim 4, wherein the swing angle detection means comprises an acceleration sensor and a plurality of high-frequency integration means. (10) The image stabilizing device for a video camera according to claim 4 or 9, further comprising a low-frequency phase compensation means for compensating a phase characteristic in a low-frequency region of the high-frequency integrator, the low-frequency phase compensation device An image stabilizing device for a video camera, characterized in that the means has a characteristic that the gain does not change with respect to frequency.