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In this paper, we propose an online algorithm for multimodal categorization based on the autonomously acquired multimodal information and partial words given by human users. For multimodal concept formation, multimodal latent Dirichlet allocation (MLDA) using Gibbs sampling is extended to an online version. We introduce a particle filter, which significantly improve the performance of the online MLDA, to keep tracking good models among various models with different parameters. We also introduce an unsupervised word segmentation method based on hierarchical Pitman-Yor Language Model (HPYLM). Since the HPYLM requires no predefined lexicon, we can make the robot system that learns concepts and words in completely unsupervised manner. The proposed algorithms are implemented on a real robot and tested using real everyday objects to show the validity of the proposed system.