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Infanoid 161subset of the environment, the constituents of which are mutually manifestedamong the participants. The context plays a major role in reducing the computationalcost of selecting and segmenting possible referents from the vastenvironment and in making their communicative interaction coherent.• •• •caregiver• •objectcaregiver• •objectrobotrobot(1) capture direction(2) identify targetFigure 19.3.Creating joint attention with a caregiver.Figure 19.3 illustrates how the robot creates and maintains joint attentionwith a caregiver. (1) The robot captures the direction of the caregiver’s attentionby reading the direction of the body, arms (reaching/pointing), face, and/or gaze. (2) The robot does a search in that direction and identifies the objectof the caregiver’s attention. Occasionally the robot diverts its attention back tothe caregiver to check if he or she is still attending to the object.Figure 19.4.Infanoid engaging in joint attention.As shown in Figure 19.4, Infanoid creates and maintains joint attention withthe human caregiver. First, its peripheral-view cameras search for a humanface in a cluttered video scene. Once a face is detected, the eyes saccade to theface and switch to the foveal-view cameras for a close-up image of the face.From this image, it roughly estimates the direction of the face from the spatialarrangement of the facial components. Then, Infanoid starts searching in thatdirection and identifies the object with salient color and texture like the toysthat infants prefer.