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In this paper, we present our work in building technologies for natural multimodal human-robot interaction. We present our systems for spontaneous speech recognition, multimodal dialogue processing, and visual perception of a user, which includes localization, tracking, and identification of the user, recognition of pointing gestures, as well as the recognition of a person's head orientation. Each of the components is described in the paper and experimental results are presented. We alsodoi:10.1109/tro.2007.907484 fatcat:mstaffju6fdu5abbbvrkh56jkm