It is now well established that joint attention is a key capability for socially interacting robots (Brooks et al., 1999, Kaplan and Hafner, 2004, Scassellati, 1999, Itti, 2003). It is also a key component for epigenetic robotic applications in general. This subject has been widely discussed and we present here one specific technical improvement for joint attention which relies on image segmentation. In the new Talking Robots (Baillie, 2004) experiment that we have started, following a successful reimplementation of the Sony’s Talking Heads (Steels, 1998) experiment o
