| CPC B60W 40/08 (2013.01) [G06V 20/597 (2022.01); G06V 40/18 (2022.01); B60W 2420/403 (2013.01); B60W 2540/225 (2020.02); B60W 2556/10 (2020.02)] | 5 Claims |
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1. A gaze estimation device for estimating toward which gaze candidate an occupant of a mobile object is directing his or her gaze from among a plurality of gaze candidates including gaze candidates existing on a structure of the mobile object and an object near the mobile object, the gaze estimation device comprising a non-transitory storage medium storing computer-readable commands and a processor connected to the storage medium, the processor executing the computer-readable commands to:
calculate, for each of the plurality of gaze candidates, a probability value of the occupant directing his or her gaze toward the gaze candidate based on the gaze and a probability distribution representing probabilities of directing his or her gaze toward each of the plurality of gaze candidates; and
estimate that the occupant is directing his or her gaze toward a gaze candidate for which the probability value is equal to or larger than a threshold value among the plurality of gaze candidates,
wherein the processor repeatedly calculates, for each of the plurality of gaze candidates, the probability value at a plurality of time points, and calculates the probability value at a calculation time point based on the probability value at a previous time point and a probability value of the gaze on the assumption that a driver is directing his or her gaze toward the gaze candidate, the probability value of the gaze being calculated by inputting coordinates of the gaze to the probability distribution.
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