Visual Salience and Reference Resolution in Situated Dialogues: A Corpus-based Evaluation

Dialogues between humans and robots are necessarily situated. Exophoric references to objects in the shared visual context are very frequent in situated dialogues, for example when a human is verbally guiding a tele-operated mobile robot. We present an approach to automatically resolving exophoric referring expressions in a situated dialogue based on the visual salience of possible referents. We evaluate the effectiveness of this approach and a range of different salience metrics using data from the SCARE corpus which we have augmented with visual information. The results of our evaluation show that our computationally lightweight approach is successful, and so promising for use in human-robot dialogue systems.