Colour naming games are idealised communicative interactions within a population of artificial agents in which a speaker uses a single colour term to draw the attention of a hearer to a particular object in a shared context. Through a series of such games, a colour lexicon can be developed that is sufficiently shared to allow for successful communication, even when the agents start out without any predefined categories. In previous models of colour naming games, the shared context was typically artificially generated from a set of colour stimuli and both agents in the interaction perceive this environment in an identical way. In this paper, we investigate the dynamics of the colour naming game in a robotic setup in which humanoid robots perceive a set of colourful objects from their own perspective. We compare the resulting colour ontologies to those found in human languages and show how these ontologies reflect the environment in which they were developed.
