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The interaction between humans and an NAO robot using deep convolutional neural networks (CNN) is presented in this paper based on an innovative end-to-end pipeline method that applies two optimized CNNs, one for face recognition (FR) and another one for the facial expression recognition (FER) in order to obtain real-time inference speed for the entire process. Two different models for FR are considered, one known to be very accurate, but has low inference speed (faster region-based convolutional neural network), and one that is not as accurate but has high
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