Estimation of a three-dimensional gaze point and the gaze target from the road images

Various ways of measuring a glance and estimating a gaze point have been studied in the literature, but they are mainly of two-dimension. We propose a new method to estimate three-dimensional information of a gaze target and to obtain the appearance of the gaze target. We propose the use of two sets of stereo cameras. One is used to measure the three-dimensional environment outside the vehicle, and the other to measure the driver´s glance. By integrating these stereo camera information, we have estimated the three-dimensional coordinates of the driver´s gaze. We also obtain information such as a forward vehicle, a sign, pedestrian and so on of the gaze target from the projection into a road image.