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Cochlea, Mel-Scale, FilterbanksFrom human speech perception to considerations for features for automatic speech recognition CochleaDifferent places along the cochlea respond to the incoming frequency. Mel scaleNonlinearity in hertz scale, linear in mal scale, for cochlea. Filter banksSimplify of cochlea is like a bank of bandpass filters.lower frequency limit and higher frequency limit. Wider and wider in higher frequency. triangular filters is more appropriate than the rectangle one sho ...

Connected and Citation SpeechConnected speech differs from the citation form. Connected Speech ProcessesConnected speech forms are highly variable as the result of a number of processes that apply to consonants and vowels. Prosodic StructureProsody is the combination of speech properties that break speech into units of time, indicate the boundaries of those units, and highlight certain constituents. A constituent is a word or a group of words that function as a single unit ...

Module 5 TTS front-end We want to generate speech that is Intelligible: you can clearly perceive what words are being said Natural: sounds like human speech Appropriate: conveys the right meaning in a specific context Front-end: Analyze text, generate a linguistic specification of what to actually generate Front-end purpose: derive a linguistic specification from text that includes the necessary information to generate speech Back-end: Waveform generation from the linguistic specification ...

Occupancy grid Occupancy Map Calculus Practicle issues of Occupancy map Inverse Measurement Model Downsampling for lidar Other Type of Map Supplementary Readings Note of Occupancy Maps. (MUST READ) Lanelets: Efficient Map Representation for Autonomous Driving. (Optional) Probabilistic robotics. Read Chapter 9 - Occupancy Grid Mapping for an overview of how occupancy grids are generated Origin: Dr. Chris Lu (Homepage)Translate + Edit: YangSier (Homepage) :four_leaf_clover:碎碎念:f ...

LiDAR LiDAR calculus State Estimation via Point Set RegressionProblem define ICP Algorithm Origin: Dr. Chris Lu (Homepage)Translate + Edit: YangSier (Homepage) :four_leaf_clover:碎碎念:four_leaf_clover:Hello米娜桑，这里是英国留学中的杨丝儿。我的博客的关键词集中在编程、算法、机器人、人工智能、数学等等，点个关注吧，持续高质量输出中。:cherry_blossom:唠嗑QQ群：兔叽的魔术工房 (942848525):star:B站账号：白拾Official（活跃于知识区和动画区）

The coordinate systems in mobile robotics world coordinate system ego-vehicle coordinate system Rigid Body AssumptionRigid Body is a solid body in which deformation is zero or so small it can be neglected. rigid body assumption implied that movement of a sensor mounted on the robot should be the same as other co-located sensors and the whole platform. Motion in generalMotion that can be described by a rotation and translation. There are 6 degree of freedom (DoF) in 3D space for rigid body. ...

DiphonePhones are not a suitable unit for waveform concatenation, so we used diphones, which capture co-articulation. Diphone starts at the middle of one phone and ends at the middle of the other. Coarticulation is the overlapping of adjacent articulations or the influence of the target phoneme on surrounding phonemes. Middles of phones are more stable in their spectral properties than the edges, because of coarticulation. So, concatenating diphones should lead to smoother joins Waveform conca ...

Tokenisation & normalisation标签化 & 正则化 When processing almost any text, we need to find the words. This involves splitting the input character sequence into tokens and normalising each token into words. Handwritten rulesEvery user of a language holds a lot of knowledge about that language in their mind. One way to capture and make use of that knowledge is in the form of rules. Finite state transducerFinite State Transducers provide general-purpose machinery for rewriting an input sequen ...

Prerequisite knowledgestates of mobile robot, motion model, position orientation and velocity, More challenge see: GPS Kalman FilterPredict, measure, combining Prediction and correction Linear Kalman Filter Recursive Least Squares + Process Model Extended Kalman FilterLinear approximation, first-order term, still linear. Linearized motion model, Linearized measurement model. Jacobian matrix Limitation of Kalman Filter Summary The Kalman Filter is very similar to RLS but includes a motion mode ...

Problem Formulationpixel-level prediction Challenge of Semantic Segmentation General vision challenges: occlusion, truncation, scale and illumination changes Challenges specific to segmentation: smooth boundaries are hard to obtain due to the intrinsic ambiguity and resolution limitation in the image space. Segmentation with DNN Semantic Segmentation for Scene Understanding RANSAC algorithm boundaries Additional materialTrue Positive, False Positive, False Negative individual object help ...

Module 1: Phonetics and Representations of SpeechSystems in Speech ProductionSpeech production involves three systems in the body: the respiratory system, the phonation system, and the articulation system (Figure 1.2). The Respiratory SystemThe respiratory system supplies the air needed to initiate speech sounds (see Figure 1.3). It consists of parts of the body that allow us to breathe, including the lungs, the diaphragm, the muscles of the rib cage, and the abdominal muscles. The Phonation S ...

HarmonicsIn the frequency domain, periodic signals have harmonic structure: they contain energy only at multiples of their fundamental frequency. Voice sounds different from unvoiced sounds, has repeating pattern, in periodicity. So, the peak of the sound in the frequency domain is clear to observe. Impulse trainAn impulse train is the simplest periodic signal that has energy at all multiples of its fundamental frequency (and energy are evenly distributed). Spectral envelopeVarying the shape o ...

Introduction This week we continue the theme of looking at general kinds of harm technology can cause if we’re not careful with it. The topic we’re looking at is one that, with a few exceptions, gets a lot less press I think than bias because it’s a lot harder to quantify (and as established in week 1, computer scientists love quantitative data) That topic is human beings, and specifically what we might unintentionally affect when we remove people from a system, or at least change their involvem ...

Introduction We’ve covered some important background concepts in talking about Responsibility, Power and Data. The idea behind these has been to motivate some of why we should be interested in ethics in computer science, and why we are often going to be at least partially responsible for anticipating and mitigating harms that technical artifacts can bring about. For this middle portion of the course, we are looking at some broad categories of harm (some of the Data readings begun this process). ...

The increasing availability of digital data reflecting economic and human development, and in particular the availability of data emitted as a by-product of people’s use of technological devices and services, has both political and practical implications for the way people are seen and treated by the state and by the private sector. Yet the data revolution is so far primarily a technical one: the power of data to sort, categorise and intervene has not yet been explicitly connected to a social ju ...