@inproceedings{schauerte2010saliency-based,
  author    = {Boris Schauerte and
               Jan Richarz and
               Gernot A. Fink},
  title     = {Saliency-based Identification and Recognition of Pointed-at Objects},
  booktitle = {Proceedings of the 23rd International Conference on Intelligent Robots and Systems (IROS)},
  publisher = {IEEE/RSJ},
  year      = {2010},
  month     = {October 18-22},
  address   = {Taipei, Taiwan},
  abstract  = {When persons interact, non-verbal cues are used to direct the attention of persons towards objects of interest. Achieving joint attention this way is an important aspect of natural communication. Most importantly, it allows to couple verbal descriptions with the visual appearance of objects, if the referred-to object is non-verbally indicated. In this contribution, we present a system that utilizes bottom-up saliency and pointing gestures to efficiently identify pointed-at objects. Furthermore, the system focuses the visual attention by steering a pan-tilt-zoom camera towards the object of interest and thus provides a suitable model-view for SIFT-based recognition and learning.}
}