acoustic signal detection; face recognition; gesture recognition; hearing; human-robot interaction; object tracking; protocols; RGB camera; Robot Operating System; audio-visual perception component integration; auditory perception; depth camera; face recognition; gesture recognition; ground-truth localization; human-robot interaction; microphone array; modularization architecture; multiperson scenarios; skeleton tracking; sound source localization algorithm; top-down hierarchical messaging protocol; Face; Face recognition; Human-robot interaction; Microphones; Robot sensing systems; ROS; audio-visual perception; human-robot interaction; sound source localization;
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