A pupil detection device includes an identification unit that identifies a pupil region from a captured image of an eye, an extractor that extracts a contour of the pupil region identified by the identification unit, a selector that selects a plurality of points on the contour of the pupil region extracted by the extractor, a center calculator that calculates a center of a circle passing through the plurality of points selected by the selector, and a pupil detector that detects a center of the pupil region from the center of a circle calculated by the center calculator.