This chapter introduces several ideas concerning human and robotic cognitions essential for mental image directed semantic theory. It presents a functional model of the human mind, assumed to work based on mental image. Mental image directed semantic theory proposes its computational model in order for systematic removal of this kind of H-R cognitive divide. There are a considerable number of cognitively motivated studies on natural language semantics in association with mental image explicitly or implicitly. A psychological matter is not a real matter but a product of human mental functions, including gestalt and abstract matters such as ‘society’, and ‘information’, in a broad sense. Mental image directed semantic theory is based on two major hypotheses about mental image. One is that mental image is in one-to-one correspondence with the focus of attention of the observer movement and the other is that it is not one-to-one reflection of the real world.