Line-of-sight direction calibration device, line-of-sight direction calibration method, and line-of-sight direction calibration program

1. A line-of-sight direction calibration device comprising:

processing circuitry

to acquire three-dimensional coordinates for at least one gaze target for calibration, the three-dimensional coordinates indicating a position of each gaze target for calibration and being based on a predetermined coordinate system;

to acquire multiple samples indicating a line-of-sight direction of a user, the multiple samples being based on an unknown coordinate system that does not have a correspondence relationship with the predetermined coordinate system;

to generate multiple calibration models indicating three-dimensional coordinates that are candidates for a position of the user on a basis of the acquired three-dimensional coordinates, the samples indicating the line-of-sight direction of the user gazing at each of the gaze targets for calibration, an unknown parameter indicating the correspondence relationship between the predetermined coordinate system and the unknown coordinate system; and

to calculate, as a calibration parameter, the unknown parameter and the position of the user on a basis of the generated calibration models.

2. The line-of-sight direction calibration device according to claim 1 , in which the processing circuitry calibrates the obtained line-of-sight direction of the user on a basis of the calculated calibration parameter, and calculating a calibrated line-of-sight direction; and

determine whether or not the user is visually recognizing a gaze determination target on a basis of the calculated calibrated line-of-sight direction and the calculated calibration parameter.

3. The line-of-sight direction calibration device according to claim 2 , wherein a threshold value for causing the processing circuitry to determine that the user is visually recognizing the gaze determination target is set on a basis of a distance between the user and the gaze determination target.

4. The line-of-sight direction calibration device according to claim 1 , wherein the processing circuitry sets a measurement characteristic of the line-of-sight measurement device for measurement of the line-of-sight direction of the user as a calibration target.

5. The line-of-sight direction calibration device according to claim 1 , wherein the processing circuitry adds a weight to the calibration models depending on a position in a measurement range of a measurement device that measures the line-of-sight direction of the user.

6. The line-of-sight direction calibration device according to claim 1 , wherein the processing circuitry adds a weight to the calibration models depending on a degree of variation of the line-of-sight direction of the user for each of the gaze targets for calibration.

7. The line-of-sight direction calibration device according to claim 1 , wherein the processing circuitry adds, for each line-of-sight direction of the user, a weight to the calibration models depending on a degree of deviation of the line-of-sight direction of the user from a distribution of the line-of-sight direction of the user in the gaze target for calibration, to which the line-of-sight direction of the user belongs.

8. A line-of-sight direction calibration method comprising the steps of:

acquiring three-dimensional coordinates for at least one gaze target for calibration, the three-dimensional coordinates indicating a position of each gaze target for calibration and being based on a predetermined coordinate system;

acquiring multiple samples indicating a line-of-sight direction of a user, the multiple samples being based on an unknown coordinate system that does not have a correspondence relationship with the predetermined coordinate system;

generating multiple calibration models indicating three-dimensional coordinates that are candidates for a position of the user on a basis of the three-dimensional coordinates indicating the position of each of the gaze targets for calibration, the samples indicating the line-of-sight direction of the user gazing at each of the gaze targets for calibration, an unknown parameter indicating the correspondence relationship between the predetermined coordinate system and the unknown coordinate system; and

calculating as a calibration parameter, the unknown parameter and the position of the user on a basis of the generated calibration models.

9. A non-transitory computer readable medium having stored therein a line-of-sight direction calibration program for causing a computer to execute:

acquiring three-dimensional coordinates for at least one gaze target for calibration, the three-dimensional coordinates indicating a position of each gaze target for calibration and being based on a predetermined coordinate system;

acquiring multiple samples indicating a line-of-sight direction of a user, the multiple samples being based on an unknown coordinate system that does not have a correspondence relationship with the predetermined coordinate system;

generating multiple calibration models indicating three-dimensional coordinates that are candidates for a position of the user on a basis of the three-dimensional coordinates indicating the position of each of the gaze targets for calibration, the samples indicating the line-of-sight direction of the user gazing at each of the gaze targets for calibration, an unknown parameter indicating the correspondence relationship between the predetermined coordinate system and the unknown coordinate system; and

calculating, as a calibration parameter, the unknown parameter and the position of the user on a basis of the generated calibration models.