JP6643095B2 - Image blur correction apparatus and control method thereof, program, storage medium - Google Patents

Description

  The present invention relates to an image blur correction device that corrects image blur caused by camera shake of a photographer or the like.

  2. Description of the Related Art There are known an image pickup apparatus and an interchangeable lens having a function of detecting a shake of an image pickup apparatus and correcting an image blur caused by the shake using a movable lens or an image pickup element. Such an image blur correction function is called optical image blur correction. In recent years, an image blur correction function of canceling image blur by changing a cutout position of each frame of a moving image has also been known, and is used for a small and lightweight imaging device or a mobile phone with an imaging device. I have. This type of image blur correction is called electronic image blur correction.

  In general, an angular velocity sensor (gyro sensor) is used to detect a shake of the imaging apparatus. A lens or an imaging element is driven in a direction to cancel image blur based on the detected angular velocity. There is also one that detects a shake in the shift direction of the imaging device using an acceleration sensor. In recent years, with the increase in the frame rate of the imaging apparatus and the sophistication of image processing, it has become possible to analyze the blur of an image between frames and calculate a motion vector to detect the blur.

  As the components of the image blur, there are two types of normal angle blur caused by rotational shake of the imaging device and shift blur caused by shift shake of the image capturing device. In the case of normal shooting other than close-up shooting, the latter shift blur is so small as to be negligible, and only the angular blur need be detected and corrected. However, in close-range shooting (imaging conditions with a high imaging magnification), the latter shift blur cannot be ignored.

  In order to solve this problem, in Patent Literature 1, a ratio between an angular velocity and an acceleration or an angular velocity and a motion vector is calculated as a correction value for blur correction. By multiplying the correction value by the angle blur correction amount, the blur correction amount including the shift blur correction amount is calculated. Thereby, both the angle blur correction and the shift blur correction are realized.

Japanese Patent No. 5094606

  However, in the technique described in Patent Document 1, the shift blur component obtained from the ratio between the angular velocity and the acceleration is only the shift blur component based on the angular blur. On the other hand, the shift blur component obtained from the angular velocity and the motion vector is a true shift blur component which is a mixture of a shift blur component based on the angle blur and a pure shift blur component. That is, since the above two shift blur components have different characteristics, their signals do not exactly match. In addition, these shift blur components finally calculate the correction value based on the ratio to the angular velocity, and when the angular velocity serving as the denominator is close to 0 in the calculation process, the correction value may be erroneously calculated. .

  The present invention has been made in view of the above-described problem, and an object of the present invention is to improve the accuracy of image blur correction in an image blur correction device that corrects not only angular blur but also shift blur.

  An image blur correction apparatus according to the present invention is an image blur correction apparatus that calculates an angular blur correction amount of a subject image using a signal detected by a first shake detection unit that detects an angular velocity of the apparatus and outputs an angular velocity signal. Using a correction amount calculation unit, a signal detected by the first shake detection unit, and a signal detected by a second shake detection unit that detects acceleration and outputs an acceleration signal, a second image of the subject image is obtained. A first shift blur correction amount calculating unit that calculates a shift blur correction amount of one, and a motion vector is calculated from a difference between images of a plurality of frames captured by an image capturing unit that captures a subject image, thereby detecting image blur. A third shake detecting means, a position signal of the image blur correcting means detected by a position detecting means for detecting a position of the image blur correcting means for correcting the shake of the subject image, and the first shake detecting means. A second shift blur correction amount calculating means for calculating a second shift blur correction amount of the subject image using the signal detected by the third shake detecting means and the signal detected by the third shake detecting means; A third shift blur correction amount calculating means for calculating a third shift blur correction amount by weighting and synthesizing the shift blur correction amount and the second shift blur correction amount; An image blur correction control unit that drives the image blur correction unit using the third shift blur correction amount, wherein the third shift blur correction amount calculation unit calculates the first shift blur correction amount and the third shift blur correction amount. When the second shift blur correction amount is weighted and synthesized, the synthesis ratio is changed based on the magnitude of the signal detected by the first shake detection means.

  According to the present invention, in an image blur correction device that corrects not only angular blur but also shift blur, it is possible to improve the correction accuracy of the image blur.

FIG. 1 is a block diagram illustrating a configuration of an embodiment of an imaging device equipped with an image blur correction device of the present invention. FIG. 3 is a block diagram illustrating a relationship among an image blur correction unit, an image blur correction controller, and a camera system controller. FIG. 2 is a view of a camera viewed from the side for explaining shift blur. FIG. 2 is a block diagram illustrating a relationship among an image blur correction unit, an image blur correction control unit, and a camera system control unit according to the embodiment of the present invention. FIG. 3 is a diagram illustrating an internal configuration of a shift correction amount calculation unit. The figure which shows the time change of the synthesis ratio K.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing the configuration of an embodiment of an imaging apparatus equipped with the image blur correction device of the present invention. This imaging device is a digital camera for mainly capturing still images and moving images.

  In FIG. 1, a zoom unit 101 includes a zoom lens that changes magnification. The zoom drive control unit 102 controls the drive of the zoom unit 101. The aperture / shutter unit 103 adjusts the amount of light incident on an imaging unit 109 described later. The aperture / shutter drive control unit 104 controls the drive of the aperture / shutter unit 103. The image blur correction unit 105 has an image blur correction lens that moves in a direction different from the direction of the optical axis of the photographing optical system to correct image blur. The image blur correction control unit 106 drives and controls the image blur correction unit. The focus unit 107 includes a focus lens that performs focus adjustment. The focus drive control unit 108 controls the drive of the focus unit 107.

  The imaging unit 109 has an imaging element that converts a light image (subject image) that has passed through each lens group into an electric signal. The imaging signal processing unit 110 converts an electric signal output from the imaging unit 109 into a video signal. The video signal processing unit 111 processes the video signal output from the imaging signal processing unit 110 according to the application. The display unit 112 displays an image as necessary based on the signal output from the video signal processing unit 111. The power supply unit 113 supplies power to the entire system according to the application. The external input / output terminal unit 114 inputs and outputs a communication signal and a video signal from / to the outside. The operation unit 115 includes an operation member for operating the camera system. The storage unit 116 stores various data such as video information. The shake detection unit 117 detects shake of the camera due to camera shake or the like. The camera system control unit 118 controls the entire camera system. The motion vector detection unit 119 detects a motion vector by analyzing blur between a plurality of frames of the video signal. The acceleration detection unit 120 has an acceleration sensor that detects acceleration applied to the camera.

  Next, a schematic operation of the imaging apparatus configured as described above will be described.

  The operation unit 115 includes a shake correction switch that enables selection of ON / OFF of image shake correction. When the image blur correction is turned on by the image blur correction switch, the camera system control unit 118 instructs the image blur correction control unit 106 to perform an image blur correction operation. The image blur correction operation is performed until an instruction is given.

  The operation unit 115 includes a shutter release button configured such that the first switch (SW1) and the second switch (SW2) are sequentially turned on according to the amount of pressing. The first switch (SW1) is turned on when the shutter release button is pressed about halfway, and the second switch (SW2) is turned on when the shutter release button is pressed all the way. When the first switch (SW1) is turned on, the focus drive control unit 108 drives the focus unit 107 to perform focus adjustment, and the aperture / shutter drive control unit 104 drives the aperture / shutter unit 103 to perform appropriate adjustment. Set the exposure amount. When the second switch (SW2) is turned on, image data obtained from the exposed light image is output from the imaging unit 109 and stored in the storage unit 116.

  The operation unit 115 includes a moving image recording switch. When the moving image recording switch is pressed, moving image shooting starts, and when the switch is pressed again during recording, recording ends. When the first and second switches (SW1 and SW2) are pressed during shooting of a moving image, a still image can be shot during recording of the moving image. The operation unit 115 also includes a playback mode selection switch for selecting a playback mode. In the playback mode, the image blur correction operation is stopped.

  The operation unit 115 includes a zoom switch for instructing zoom zoom. When an instruction for zooming is given by the zooming switch, the zoom drive control unit 102 that has received the instruction via the camera system control unit 118 drives the zoom unit 101 and moves the zoom unit 101 to the specified zoom position. Let it. At the same time, based on the image information output from the imaging unit 109 and processed by the imaging signal processing unit 110 and the video signal processing unit 111, the focus drive control unit 108 drives the focus unit 107 to perform focus adjustment.

  FIG. 2 is a block diagram showing the relationship among the image blur correction unit 105, the image blur correction control unit 106, and the camera system control unit 118 in more detail. FIG. 2 shows a prerequisite configuration before describing the configuration of the present embodiment, and shows a configuration having no part for detecting image blur using a motion vector, which is a characteristic configuration of the present embodiment. Have been. A prerequisite part of the configuration of the present embodiment will be described with reference to FIG. The image blur correction includes the image blur correction in the Pitch direction and the image blur correction in the Yaw direction with respect to the optical axis of the photographing optical system. However, since the configuration is the same in the Pitch direction and the Yaw direction, the uniaxial Only the following will be described.

  In FIG. 2, a shake detection unit 117 mainly detects angular velocity data of a camera using an angular velocity sensor (gyro) and outputs the detected data as a voltage. The AD converter 201 converts the angular velocity signal output by the shake detector 117 into digital data. The high-pass filter 202 removes an offset component of the gyro and a temperature drift component. The low-pass filter 203 integrates the angular velocity data and converts it into angle data. The sensitivity multiplication unit 204 converts the angle data into a shift amount of the image blur correction lens (angle blur correction amount calculation). This sensitivity has a different value for each focal length, and the sensitivity changes each time the focal length changes. In addition, the correction amount due to the sensitivity adjustment of the angular velocity sensor is also reflected, thereby absorbing sensitivity variations. Hereinafter, the output of the sensitivity multiplication unit 204 will be referred to as a first angle blur correction amount.

  The offset calculator 205 calculates an offset component from a signal of the angular velocity sensor. The low-pass filter 206 integrates the angular velocity data from which the offset component has been subtracted by the subtractor 205a, and converts it into angle data. The sensitivity multiplication unit 207 performs the same operation as the sensitivity multiplication unit 204. Hereinafter, the output of the sensitivity multiplying unit 207 will be referred to as a second angle blur correction amount. Since the second angular blur correction amount does not include a high-pass filter as compared with the first angular blur correction amount, it is possible to compensate for a lower frequency band than the first angular blur correction amount.

  The signal selection unit 208 selects one of the outputs of the sensitivity multiplication units 204 and 207. During the still image exposure, the output signal of the sensitivity multiplying unit 207 is selected in order to improve the performance of blur correction, and during the period other than the still image exposure, the output signal of the sensitivity multiplying unit 204 is selected. The limiter unit 209 clamps the image blur correction amount to the movable range of the optical image blur correction unit 105. The PID control unit 210 is a controller for controlling the position of the image blur correction lens. The driver unit 211 converts the correction amount of the image blur correction lens into a voltage and supplies a current for driving. The position detecting section 212 detects the position of the image blur correction lens and outputs it as a voltage. The AD converter 213 converts an analog voltage, which is the position of the image blur correction lens, into digital data.

  The above is the description of the control system for correcting the angular shake component caused by the rotational shake of the image. In other words, the upper half of FIG. 2 shows a control system for correcting an angular shake component due to rotational shake, and the lower half of FIG. 2 shows a control system for correcting shift shake. Hereinafter, a control system for correcting a shift blur component of an image caused by rotational blurring of the image in the lower half of FIG. 2 will be described.

  The acceleration detection unit 120 detects acceleration applied to the imaging device and outputs the detected voltage as a voltage. The AD converter 214 converts the acceleration signal output by the acceleration sensor of the acceleration detector 120 into digital data. The high-pass filter 215 and the low-pass filter 216 each limit the band of the detected acceleration.

  On the other hand, the same band limitation as the acceleration detection unit 120 is applied to the output of the shake detection unit 117 by the high-pass filter 217 and the low-pass filter 218. The angular velocity that is the output of the shake detection unit 117 and the acceleration that is the output of the acceleration detection unit 120 subjected to the same band limitation are input to the turning radius calculation unit 219. In this way, the turning radius calculator 219 calculates the turning radius with respect to the rotational shake of the imaging apparatus, and calculates the shift blur component of the blur correction amount by the shift correction amount calculator 221 together with the imaging magnification information of the imaging magnification information unit 220 (shift blur). Correction amount calculation). Hereinafter, the calculation of the shift blur component will be described in detail.

  FIG. 3 is a side view of the camera for explaining shift blur. Description will be made with reference to FIG. FIG. 3A shows a state where the camera 301 has shifted from the position of the reference line 302 to the position of the reference line 303. This is simply that the camera 301 has shifted downward, and the shift amount y is the difference between its reference lines. By integrating the output of the acceleration sensor twice, the shift amount can be obtained. However, since the acceleration sensor includes an offset peculiar to the sensor, its noise is amplified by twice integration, so that it is difficult to calculate an accurate shift amount y.

  On the other hand, FIG. 3B is a diagram illustrating a shift component caused by the camera shake. 3A, the camera 301 rotates downward from the reference line 304 about the rotation center 306 by an angle θ, and the horizontal axis of the camera changes to 305. The distance from the center of rotation 306 to the position of the principal point of the imaging optical system is the radius of rotation, and its value is L. The shift amount y in that case can be expressed as follows.

y = Lθ (1)
Differentiating these two sides gives:

v = Lω (2)
Here, v is the rotation speed caused by the camera shake, and ω is the camera angular speed. In this case, the rotational speed v may be obtained by integrating the output of the acceleration sensor once, and the error factor due to the integration of the offset noise is smaller than the integration twice. The camera shift radius L can be calculated by calculating the rotation radius L of the camera from the rotation speed data v and the angular speed data ω, returning to equation (1) and multiplying L by θ.

  At this time, when calculating the radius of gyration L using equation (2), if the data of the rotational speed v and the angular velocity ω are used as they are, the accuracy is reduced due to the noise of each sensor. Multiply. The high-pass filters 215 and 217 and the low-pass filters 216 and 218 play the role. Up to this point, the method has been described in which the shift blur caused by the rotation blur is accurately calculated.

  The total shake amount on the image plane is calculated from the shift shake amount resulting from the rotational shake and the angular shake correction amount calculated from only the angular velocity sensor. The following equation is the blur amount δ on the image plane.

δ = (1 + β) fθ + βy (3)
Where β is the imaging magnification, f is the focal length, θ is the blur angle, and y is the shift amount. Substituting the shift blur amount obtained from Expressions (1) and (2) into Expression (3) gives the following.

δ = (1 + β) fθ + βLθ (4)
δ = (1 + β) fθ + β (v / ω) θ (5)
The shift blur component can be calculated by multiplying the angle blur θ by a coefficient of βL or β (v / ω). As described above, the shift blur caused by the angle blur can be obtained with high accuracy. However, pure shift blur not caused by angle blur is not included.

  Next, the relationship among the image blur correction unit 105, the image blur correction control unit 106, and the camera system control unit 118 in this embodiment will be described in detail with reference to FIG. In FIG. 4, in addition to the prerequisite configuration shown in FIG. 2, a configuration that calculates image blur based on a motion vector, which is a characteristic configuration of the present embodiment, is added. 2 are given the same reference numerals as in FIG. 2 and their explanation is omitted. Also, as in FIG. 2, the upper half of FIG. 4 shows a control system for correcting an angular shake component caused by rotational shake, and the lower half of FIG. 4 shows a control system for correcting shift shake.

  The signal obtained by the imaging unit 109 is input to the imaging signal processing unit 110, and image signals captured at a fixed frame rate are sequentially transmitted. A motion vector is detected by calculating the difference between the previous frame and the current frame in the motion vector detection unit 119 for the image signal.

  On the other hand, the position signal of the shake correction lens detected by the position detection unit 212 is converted from the position to the speed by the differentiator 425, and compensated by the phase compensation unit 426 so as to match the delay of the motion vector signal. When the sum of this signal and the motion vector is obtained, this signal becomes a shake signal of the entire camera. The differential value of the position signal is the camera shake correction angular velocity, and the motion vector is the remaining camera shake component that could not be corrected. Therefore, the sum of them becomes the entire shake signal including the rotational shake and the shift shake. The band of the signal is limited by the high-pass filter 422 and the low-pass filter 423. This band limitation is the same as the band limitation of the angular velocity data, and is the same as that of the high-pass filter 217 and the low-pass filter 218.

  On the other hand, the angular velocity data subjected to the band limitation is buffered (temporarily stored) and adjusted by the phase compensation unit 424. This is because the calculation of the motion vector is output with a certain time delay from the angular velocity sensor. Assuming that the motion vector is V, the differential value of the position signal of the image blur correction lens is H, and the angular velocity data is G, the shift blur speed component ε obtained from these is as follows.

ε = V + HG (6)
Similar to when the shift blur correction coefficient is obtained by using the acceleration sensor, the ratio s of the shift blur component to the angle blur is obtained as follows.

s = (V + HG) / G (7)
This correction coefficient differs from the shift blur correction coefficient obtained from the above-described acceleration sensor, and is a coefficient including all shift blur components not caused by the angle blur. The above calculation is performed by the shift correction amount calculation unit 427. The shift correction amount obtained from the motion vector is weighted and synthesized by the shift correction amount calculation unit 421 with the shift blur correction amount obtained from the rotation radius obtained from the acceleration sensor and the imaging magnification β.

  Next, an internal configuration of the shift correction amount calculation unit 421 will be described with reference to FIGS. As described above, the turning radius L (= v / ω) obtained from the acceleration sensor is output from the turning radius calculation unit 219 and multiplied by the imaging magnification information of the imaging magnification information unit 220 to obtain the first shift correction coefficient and the first shift correction coefficient. Become. On the other hand, the second shift correction coefficient calculated by the shift correction amount calculation unit 427 from the motion vector is directly input to the shift correction amount calculation unit 421. The former is multiplied by weighting coefficient K in weighting section 502, and the latter is multiplied by weighting coefficient 1-K in weighting section 503. Then, the sum of the respective values is used as a final third shift correction coefficient. However, K is a value between 0 and 1.

  Since the shift correction coefficient is a correction value for the angular shake, it is divided by the shake angular velocity in the calculation process. Therefore, when the shake angular velocity is a minute shake close to 0, the shift correction coefficient may have a large error. On the other hand, a phase shift occurs at the same time between the shake angular velocity used for calculating the first shift correction coefficient and the shake angular velocity used for calculating the second shift correction coefficient. This is because the phase of the motion vector and the angular velocity are matched by delaying the angular velocity because there is a delay in the calculation from the video signal in the motion vector detection as described above. Utilizing this phase delay, the combination ratio used in calculating the third shift correction coefficient according to the magnitude of the angular velocity data handled in the calculation of the first shift correction coefficient and the calculation of the second shift correction coefficient at the same time ( K) is changed. Specifically, the smaller the angular velocity data, the smaller the synthesis ratio of the first shift correction coefficient (the smaller the K).

Further, the combination ratio (K) of the first shift correction coefficient and the second shift correction coefficient may be determined in consideration of the reliability of the motion vector. Specifically, the reliability of the motion vector is determined based on at least one of the elapsed time from the start of exposure during still image exposure, whether the image is a low-contrast image, and whether the subject is a repetitive pattern. For example, since a motion vector cannot be detected during still image exposure, the reliability of the second shift correction coefficient decreases as the elapsed time from the start of still image exposure increases. Therefore, K is increased at a fixed rate from K at the start of the still image exposure, the rate of the first shift correction coefficient is increased, and the rate of the second shift correction coefficient is decreased.

  FIG. 6 is a graph expressing the combination ratio K in a time-series manner. Until immediately before the start of the still image exposure, the motion vector can be detected, so that the synthesis ratio K according to the shake angular velocity changes in real time. After the start of the still image exposure, K is increased at a constant rate from the value of K immediately before, and the rate of the shift correction coefficient by the motion vector is decreased.

  As described above, when the camera is in a standby state for capturing a still image or recording a moving image, the combination ratio fluctuates in real time, and the shift blur correction amount can be accurately calculated. Also, during exposure to a still image, erroneous correction can be avoided by reducing the composition ratio of the shift correction amount based on the motion vector over time in consideration of the reliability of the motion vector over time.

(Other embodiments)
The present invention supplies a program for realizing one or more functions of the above-described embodiments to a system or an apparatus via a network or a storage medium, and one or more processors in a computer of the system or the apparatus read and execute the program. This processing can be realized. Further, it can also be realized by a circuit (for example, an ASIC) that realizes one or more functions.

105: image blur correction unit, 106: image blur correction control unit, 109: imaging unit, 110: imaging signal processing unit, 112: display unit, 113: power supply unit, 115: operation unit, 117: shake detection unit, 118: Camera system controller 119: motion vector detector 120 acceleration detector

Claims (10)

An angular blur correction amount calculating unit that calculates an angular blur correction amount of a subject image using a signal detected by the first shake detecting unit that detects an angular speed of the device and outputs an angular speed signal;
Using the signal detected by the first shake detecting means and the signal detected by the second shake detecting means for detecting acceleration and outputting an acceleration signal, a first shift blur correction amount of the subject image First shift blur correction amount calculating means for calculating
A third shake detection unit that calculates a motion vector from a difference between the images of the plurality of frames captured by the imaging unit that captures the subject image and detects blur of the image,
A position signal of the image blur correction unit detected by a position detection unit that detects a position of the image blur correction unit that corrects a blur of a subject image, a signal detected by the first shake detection unit, and a third signal. A second shift blur correction amount calculating unit that calculates a second shift blur correction amount of the subject image using the signal detected by the shake detecting unit;
A third shift blur correction amount calculating means for calculating a third shift blur correction amount by weighting and combining the first shift blur correction amount and the second shift blur correction amount;
An image blur correction control unit that drives the image blur correction unit using the angle blur correction amount and the third shift blur correction amount,
The third shift blur correction amount calculating means detects the synthesis ratio when the first shift blur correction amount and the second shift blur correction amount are combined and weighted by the first shake detecting means. An image blur correction device, wherein the change is made based on the magnitude of a signal obtained.   The second shift blur correction amount calculating means temporarily accumulates the position signal of the image blur correcting means, and adjusts the phase of the position signal and the phase of the signal detected by the third shake detecting means. 2. The image blur correction apparatus according to claim 1, further comprising: a phase compensator.   The second shift blur correction amount calculating means temporarily stores the signal detected by the first shake detecting means, and adjusts the phase of the signal and the signal detected by the third shake detecting means. 3. The image blur correction device according to claim 1, further comprising a second phase compensator.   The third shift blur correction amount calculation means reduces the composite ratio of the first shift blur correction amount as the signal detected by the first shake detection means decreases, and reduces the second shift blur correction amount. The image blur correction device according to claim 1, wherein a synthesis ratio is increased.   The third shift blur correction amount calculating means changes a combined ratio of the first shift blur correction amount and the second shift blur correction amount according to the reliability of the motion vector. Item 2. The image blur correction device according to Item 1.   The reliability of the motion vector is determined based on at least one of the elapsed time from the start of exposure during still image exposure, whether or not the image is a low-contrast image, and whether or not the subject has a repetitive pattern. The image blur correction device according to claim 5, wherein   The first shift blur correction amount calculating means calculates a turning radius of the rotational blur using a signal detected by the first shake detecting means and a signal detected by the second shake detecting means. 7. The image blur correction apparatus according to claim 1, wherein a first shift blur correction amount is calculated using a rotation radius and a shake angle of the rotation blur. An angular blur correction amount calculating step of calculating an angular blur correction amount of a subject image using a signal detected by a first shake detecting unit that detects an angular velocity of the apparatus and outputs an angular velocity signal;
Using the signal detected by the first shake detecting means and the signal detected by the second shake detecting means for detecting acceleration and outputting an acceleration signal, a first shift blur correction amount of the subject image A first shift blur correction amount calculating step of calculating
A shake detection step of calculating a motion vector from a difference between the images of the plurality of frames captured by the imaging unit that captures the subject image and detecting blur of the image,
A position signal of the image blur correction unit detected by a position detection unit that detects a position of the image blur correction unit that corrects a shake of a subject image, a signal detected by the first shake detection unit, and the shake detection step. A second shift blur correction amount calculating step of calculating a second shift blur correction amount of the subject image using the signal detected by
A third shift blur correction amount calculating step of calculating a third shift blur correction amount by weighting and combining the first shift blur correction amount and the second shift blur correction amount;
An image blur correction control step of driving the image blur correcting unit using the angle blur correction amount and the third shift blur correction amount,
In the third shift shake correction amount calculating step, when the first shift shake correction amount and the second shift shake correction amount are weighted and combined, the combined ratio is detected by the first shake detection unit. A control method of the image blur correction device, wherein the change is performed based on the magnitude of the signal.   A program for causing a computer to execute each step of the control method according to claim 8.   A computer-readable storage medium storing a program for causing a computer to execute each step of the control method according to claim 8.

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