diff --git a/CHANGELOG.md b/CHANGELOG.md
index 911c26af..166f3972 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,7 @@
 
+ * Fix `FFmpegFrameGrabber.grab()` not returning audio frames buffered by the codec ([issue #1971](https://github.com/bytedeco/javacv/issues/1971))
+ * Upgrade dependencies for OpenCV 4.7.0, librealsense2 2.53.1, Leptonica 1.83.0, Tesseract 5.3.0
+
 ### November 2, 2022 version 1.5.8
  * Override `FFmpegFrameGrabber.getVideoCodecName()/getAudioCodecName()` to return names of opened codecs ([pull #1901](https://github.com/bytedeco/javacv/pull/1901))
  * Add `FrameGrabber.videoDisposition/audioDisposition` properties to select streams by disposition ([pull #1879](https://github.com/bytedeco/javacv/pull/1879))
diff --git a/platform/pom.xml b/platform/pom.xml
index 754c3381..b04137ba 100644
--- a/platform/pom.xml
+++ b/platform/pom.xml
@@ -33,7 +33,7 @@
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>opencv-platform</artifactId>
-      <version>4.6.0-${javacpp.version}</version>
+      <version>4.7.0-${javacpp.version}</version>
     </dependency>
     <dependency>
       <groupId>org.bytedeco</groupId>
@@ -68,7 +68,7 @@
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>librealsense2-platform</artifactId>
-      <version>2.50.0-${javacpp.version}</version>
+      <version>2.53.1-${javacpp.version}</version>
     </dependency>
     <dependency>
       <groupId>org.bytedeco</groupId>
@@ -88,12 +88,12 @@
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>leptonica-platform</artifactId>
-      <version>1.82.0-${javacpp.version}</version>
+      <version>1.83.0-${javacpp.version}</version>
     </dependency>
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>tesseract-platform</artifactId>
-      <version>5.2.0-${javacpp.version}</version>
+      <version>5.3.0-${javacpp.version}</version>
     </dependency>
 
     <dependency>
diff --git a/pom.xml b/pom.xml
index 8fa8d167..d3a57d19 100644
--- a/pom.xml
+++ b/pom.xml
@@ -75,7 +75,7 @@
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>opencv</artifactId>
-      <version>4.6.0-${javacpp.version}</version>
+      <version>4.7.0-${javacpp.version}</version>
     </dependency>
     <dependency>
       <groupId>org.bytedeco</groupId>
@@ -110,7 +110,7 @@
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>librealsense2</artifactId>
-      <version>2.50.0-${javacpp.version}</version>
+      <version>2.53.1-${javacpp.version}</version>
     </dependency>
     <dependency>
       <groupId>org.bytedeco</groupId>
@@ -130,12 +130,12 @@
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>leptonica</artifactId>
-      <version>1.82.0-${javacpp.version}</version>
+      <version>1.83.0-${javacpp.version}</version>
     </dependency>
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>tesseract</artifactId>
-      <version>5.2.0-${javacpp.version}</version>
+      <version>5.3.0-${javacpp.version}</version>
     </dependency>
 
     <dependency>
diff --git a/src/main/java/org/bytedeco/javacv/FFmpegFrameGrabber.java b/src/main/java/org/bytedeco/javacv/FFmpegFrameGrabber.java
index 35d0c1ac..977a5715 100644
--- a/src/main/java/org/bytedeco/javacv/FFmpegFrameGrabber.java
+++ b/src/main/java/org/bytedeco/javacv/FFmpegFrameGrabber.java
@@ -1429,9 +1429,9 @@ public synchronized Frame grabFrame(boolean doAudio, boolean doVideo, boolean do
                             return null;
                         }
                     }
-                    if (doVideo && video_st != null) {
-                        // The video codec may have buffered some frames
-                        pkt.stream_index(video_st.index());
+                    if ((doVideo && video_st != null) || (doAudio && audio_st != null)) {
+                        // The video or audio codec may have buffered some frames
+                        pkt.stream_index(doVideo && video_st != null ? video_st.index() : audio_st.index());
                         pkt.flags(AV_PKT_FLAG_KEY);
                         pkt.data(null);
                         pkt.size(0);
@@ -1466,6 +1466,12 @@ public synchronized Frame grabFrame(boolean doAudio, boolean doVideo, boolean do
                     ret = avcodec_receive_frame(video_c, picture);
                     if (ret == AVERROR_EAGAIN() || ret == AVERROR_EOF()) {
                         if (pkt.data() == null && pkt.size() == 0) {
+                            pkt.stream_index(-1);
+                            doVideo = false;
+                            if (doAudio) {
+                                readPacket = false;
+                                break;
+                            }
                             return null;
                         } else {
                             readPacket = true;
@@ -1511,8 +1517,14 @@ public synchronized Frame grabFrame(boolean doAudio, boolean doVideo, boolean do
                 while (!done) {
                     ret = avcodec_receive_frame(audio_c, samples_frame);
                     if (ret == AVERROR_EAGAIN() || ret == AVERROR_EOF()) {
-                        readPacket = true;
-                        break;
+                        if (pkt.data() == null && pkt.size() == 0) {
+                            pkt.stream_index(-1);
+                            doAudio = false;
+                            return null;
+                        } else {
+                            readPacket = true;
+                            break;
+                        }
                     } else if (ret < 0) {
                         // Ignore errors to emulate the behavior of the old API
                         // throw new Exception("avcodec_receive_frame() error " + ret + ": Error during audio decoding.");