The mind of a dog

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I often wonder: how dogs perceive the world around them, especially our human environment? They are obviously conscious beings, but I still can't imagine what it is like to be a dog.
They recognize patterns (like commands, pavlovian conditioning, etc), but what do they actually think when, for example, you call them by name? Are they self-conscious enough to know it is their name or they think it is a command meaning "you should come here"?