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This paper proposes a method for estimating the human performance of pedestrian detectability from in-vehicle camera images in order to warn a driver of the positions of pedestrians in an appropriate timing. By introducing features related to visual search and motion of the target, the proposed method estimates the detectability of pedestrians accurately. Support Vector Regression (SVR) is used to estimate the detectability. Here, SVR is trained using features calculated by the proposed method with the ground truth obtained through experiments with human subjects. From experiments using in-vehicle camera images, we confirmed that the proposed features were effective to estimate the detectability of pedestrians.