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Multimodal perception systems are well-suited for HRI in HSEs and can provide more rich, robust interaction for robots operating among humans. In this article, we provide an overview of multimodal perception systems being used in HSEs, which is intended to be an introduction to the topic and summary of relevant trends, techniques, resources, challenges, and terminology. We surveyed 15 peer-reviewed robotics and HRI publications over the past 10+ years, providing details about the data acquisition, processing, and fusion techniques used in 65 multimodal perception systems across various HRI domains. Our survey provides information about hardware, software, datasets, and methods currently available for HRI perception research, as well as how these perception systems are being applied in HSEs. 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