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Gaze estimation techniques using a camera have widely been studied in recent years. Most existing methods require a high-quality image of the eye area. However, an eye image obtained under real environments is often in low resolution, affected by illumination changes, and occluded by sunglasses or head rotation. Thus, we propose a method that estimates a gaze direction accurately using pose information including the head direction, the body direction, and the head motion. The proposed method estimates the pose information from an input person image sequence. Then, it calculates a likelihood function of gaze directions using the estimated pose information. Finally, it outputs the gaze direction that maximizes the likelihood value as a gaze estimation result. Experimental results showed that the proposed method could estimate gaze directions more accurately than an existing method. 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