Optical image stabilization in a scanning folded camera

1. A method for optical image stabilization of a handheld electronic device having a device normal and comprising a scanning Tele folded camera that includes an optical path folding element (OPFE) for folding light from a first optical path that forms an angle of less than 90 degrees with the device normal toward a second optical path substantially orthogonal to the device normal, a lens with a lens optical axis along the second optical path, and an image sensor, the method comprising:

tilting the OPFE in one or more directions to direct a point of view (POV) of the scanning Tele folded camera towards a segment of a scene such that coordinate systems of the scanning Tele folded camera and the device are not aligned;

using a motion sensor for sensing an undesired rotational motion of the device;

moving at least one component of the scanning Tele folded camera compensating for the undesired rotational motion, wherein the compensation depends on the undesired rotational motion and on the scanning Tele folded camera's POV; and

performing a coordinate transformation to align the coordinate system of the scanning Tele folded camera with the coordinate system of the device or vice versa.

2. The method of claim 1 , wherein the compensating for the undesired rotational motion includes compensating for rotational motion around the device normal.

3. The method of claim 1 , further comprising performing a coordinate transformation to align the coordinate system of the scanning Tele folded camera with coordinates of the motion sensor or vice versa.

4. The method of claim 1 , further comprising performing a coordinate transformation to align coordinates of a reference coordinate system with coordinates of the motion sensor and the coordinate system of the scanning Tele folded camera.

5. The method of claim 2 , wherein the coordinate transformation is performed using Rodrigues' rotation formula.

6. The method of claim 2 , wherein the coordinate transformation is performed by an analytical solution.

7. The method of claim 2 , wherein the coordinate transformation is performed by an approximate solution.

8. The method of claim 1 , wherein the sensing of an undesired rotational motion includes sensing the undesired rotational motion in three directions.

9. The method of claim 1 , wherein the compensating of the undesired rotational motion includes compensating the undesired rotational motion in three directions.

10. The method of claim 1 , wherein the compensating for the undesired rotational motion includes rotating the OPFE.

11. The method of claim 1 , wherein the compensating for the rotational motion of the device includes moving the lens.

12. The method of claim 1 , wherein the compensating for the rotational motion of the device includes moving the image sensor.

13. The method of claim 1 , wherein the scanning Tele folded camera is a double-folded Tele camera comprising two OPFEs.

14. The method of claim 1 , wherein the device further includes a Wide camera having a field of view FOV W larger than a field of view FOV T of the Tele camera, and wherein the Wide camera is operational to output Wide image data.

15. The method of claim 14 , wherein the Wide image data is used to track an object in FOV W and wherein information obtained from the tracking is used to direct the POV of the scanning Tele folded camera towards the tracked object for object tracking with the scanning Tele folded camera.