Robot ego-sphere: An approach for saliency detection and attention manipulation in humanoid robots for intuitive interaction

There is still a way to go to achieve intuitive interaction between humanoid robots and humans. This paper identifies two relatively simple but important prerequisites: saliency detection and attention manipulation by the robot. By creating a saliency based attentional model and combining it with a robot ego-sphere, the robot can engage in an interaction with a human, starting an interaction game including objects as a first step towards a joint attention.