To provide a novel visible direction estimation device capable of appropriately detecting an object visible by a driver.SOLUTION: A visible direction estimation device 1 comprises: a communication unit 13 that communicates with a peripheral monitoring sensor 20 that detects a mobile object existed in a periphery of a vehicle and an on-vehicle device 21 mounted on the vehicle; an operation scene specification unit 14 that specifies an operation scene on the basis of data of the peripheral monitoring sensor 20 or the data of the on-vehicle device 21; a camera 10 that photographs a driver; a facial detection unit 11 that detects a facial direction of the driver from an image photographed by the camera 10; a sight detection unit 12 that detects a line of sight of the driver from the image photographed by the camera 10; and a sight direction estimation unit 15 that estimates a direction visible by the driver from the line of sight of the driver or the facial direction. The sight direction estimation unit 15 estimates a visible direction on the basis of the facial direction detected by the facial detection unit 11 and the operation scene specified by the operation scene specification unit 14 when the line of sight detected by the sight detection unit 12 is a prescribed angle or more.SELECTED DRAWING: Figure 1
【課題】運転者が視認している対象を適切に検知できる新規な視認方向推定装置を提供する。【解決手段】視認方向推定装置1は、車両の周辺にある移動物体を検知する周辺監視センサ20および車両に搭載された車載機器21と通信する通信部13と、周辺監視センサ20のデータまたは車載機器21のデータに基づいて運転シーンを特定する運転シーン特定部14と、運転者を撮影するカメラ10と、カメラ10にて撮影した画像から運転者の顔向きを検知する顔向き検知部11と、カメラ10にて撮影した画像から運転者の視線を検知する視線検知部12と、運転者の視線または顔向きから運転者が視認している方向を推定する視認方向推定部15とを備える。視認方向推定部15は、視線検知部12にて検知された視線が所定の角度以上のときに、顔向き検知部11にて検知された顔向きと、運転シーン特定部14にて特定された運転シーンとに基づいて、視認方向を推定する。【選択図】図1
VISIBLE DIRECTION ESTIMATION DEVICE, VISIBLE DIRECTION ESTIMATION METHOD, AND PROGRAM
視認方向推定装置、視認方向推定方法、およびプログラム
2020-09-24
Patent
Electronic Resource
Japanese
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