1. Method for detecting an eyes-off-the-road condition based on an estimated gaze direction of a driver of a vehicle, comprising: monitoring facial feature points of the driver within image input data captured by an in-vehicle camera device; detecting a location for each of a plurality of eye features for an eyeball of the driver based on the monitored facial feature points; estimating a head pose of the driver based on the monitored facial feature points; and estimating the gaze direction of the driver based on the detected location information for each of the plurality of eye features and the estimated head pose.