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To make the human-robot collaboration effective, it may be necessary to provide robots with "senses" like vision and hearing. Task-oriented man-machine speech communication often relies on the use of abstract terms to describe objects. Therefore it is necessary to correctly map those terms into images of proper objects in a camera's field of view. This paper presents the results of our research in this field. A novel method for contour identification, based on flexible editable contourdoi:10.3390/s20061773 pmid:32210131 fatcat:etnhk3cu6jbq7fmas5nr6fcus4