1. A method for generating a saliency map for a robot device having a sensor, comprising the steps of: gathering depth information with regard to a distance from the sensor to one or more sensed objects; and generating the saliency map using a disparity saliency selection based upon said depth information, wherein a priority is allocated to patterns within a predefined depth interval; wherein the saliency map indicating, to the robot device, patterns in an input space of the sensor means which are candidates for carrying out a task.