Perceptual Evaluation of Video-Realistic Speech

abstract With many visual speech animation techniques now available, there is a clear need for systematic perceptual evaluation schemes. We describe here our scheme and its application to a new video-realistic (potentially indistinguishable from real recorded video) visual-speech animation system, called Mary 101. Two types of experiments were performed: a) distinguishing visually between real and synthetic image- sequences of the same utterances, ("Turing tests") and b) gauging visual speech recognition by comparing lip-reading performance of the real and synthetic image-sequences of the same utterances ("Intelligibility tests"). Subjects that were presented randomly with either real or synthetic image-sequences could not tell the synthetic from the real sequences above chance level. The same subjects when asked to lip-read the utterances from the same image-sequences recognized speech from real image-sequences significantly better than from synthetic ones. However, performance for both, real and synthetic, were at levels suggested in the literature on lip-reading. We conclude from the two experiments that the animation of Mary 101 is adequate for providing a percept of a talking head. However, additional effort is required to improve the animation for lip-reading purposes like rehabilitation and language learning. In addition, these two tasks could be considered as explicit and implicit perceptual discrimination tasks. In the explicit task (a), each stimulus is classified directly as a synthetic or real image-sequence by detecting a possible difference between the synthetic and the real image-sequences. The implicit perceptual discrimination task (b) consists of a comparison between visual recognition of speech of real and synthetic image-sequences. Our results suggest that implicit perceptual discrimination is a more sensitive method for discrimination between synthetic and real image-sequences than explicit perceptual discrimination.

Pose-Invariant Face Recognition Using Real and Virtual Views

The problem of automatic face recognition is to visually identify a person in an input image. This task is performed by matching the input face against the faces of known people in a database of faces. Most existing work in face recognition has limited the scope of the problem, however, by dealing primarily with frontal views, neutral expressions, and fixed lighting conditions. To help generalize existing face recognition systems, we look at the problem of recognizing faces under a range of viewpoints. In particular, we consider two cases of this problem: (i) many example views are available of each person, and (ii) only one view is available per person, perhaps a driver's license or passport photograph. Ideally, we would like to address these two cases using a simple view-based approach, where a person is represented in the database by using a number of views on the viewing sphere. While the view-based approach is consistent with case (i), for case (ii) we need to augment the single real view of each person with synthetic views from other viewpoints, views we call 'virtual views'. Virtual views are generated using prior knowledge of face rotation, knowledge that is 'learned' from images of prototype faces. This prior knowledge is used to effectively rotate in depth the single real view available of each person. In this thesis, I present the view-based face recognizer, techniques for synthesizing virtual views, and experimental results using real and virtual views in the recognizer.

Segmentation and Alignment of Speech and Sketching in a Design Environment

Sketches are commonly used in the early stages of design. Our previous system allows users to sketch mechanical systems that the computer interprets. However, some parts of the mechanical system might be too hard or too complicated to express in the sketch. Adding speech recognition to create a multimodal system would move us toward our goal of creating a more natural user interface. This thesis examines the relationship between the verbal and sketch input, particularly how to segment and align the two inputs. Toward this end, subjects were recorded while they sketched and talked. These recordings were transcribed, and a set of rules to perform segmentation and alignment was created. These rules represent the knowledge that the computer needs to perform segmentation and alignment. The rules successfully interpreted the 24 data sets that they were given.

From First Contact to Close Encounters: A Developmentally Deep Perceptual System for a Humanoid Robot

This thesis presents a perceptual system for a humanoid robot that integrates abilities such as object localization and recognition with the deeper developmental machinery required to forge those competences out of raw physical experiences. It shows that a robotic platform can build up and maintain a system for object localization, segmentation, and recognition, starting from very little. What the robot starts with is a direct solution to achieving figure/ground separation: it simply 'pokes around' in a region of visual ambiguity and watches what happens. If the arm passes through an area, that area is recognized as free space. If the arm collides with an object, causing it to move, the robot can use that motion to segment the object from the background. Once the robot can acquire reliable segmented views of objects, it learns from them, and from then on recognizes and segments those objects without further contact. Both low-level and high-level visual features can also be learned in this way, and examples are presented for both: orientation detection and affordance recognition, respectively. The motivation for this work is simple. Training on large corpora of annotated real-world data has proven crucial for creating robust solutions to perceptual problems such as speech recognition and face detection. But the powerful tools used during training of such systems are typically stripped away at deployment. Ideally they should remain, particularly for unstable tasks such as object detection, where the set of objects needed in a task tomorrow might be different from the set of objects needed today. The key limiting factor is access to training data, but as this thesis shows, that need not be a problem on a robotic platform that can actively probe its environment, and carry out experiments to resolve ambiguity. This work is an instance of a general approach to learning a new perceptual judgment: find special situations in which the perceptual judgment is easy and study these situations to find correlated features that can be observed more generally.

Fast Object Recognition in Noisy Images Using Simulated Annealing

A fast simulated annealing algorithm is developed for automatic object recognition. The normalized correlation coefficient is used as a measure of the match between a hypothesized object and an image. Templates are generated on-line during the search by transforming model images. Simulated annealing reduces the search time by orders of magnitude with respect to an exhaustive search. The algorithm is applied to the problem of how landmarks, for example, traffic signs, can be recognized by an autonomous vehicle or a navigating robot. The algorithm works well in noisy, real-world images of complicated scenes for model images with high information content.

Observations on Cortical Mechanisms for Object Recognition andsLearning

This paper sketches a hypothetical cortical architecture for visual 3D object recognition based on a recent computational model. The view-centered scheme relies on modules for learning from examples, such as Hyperbf-like networks. Such models capture a class of explanations we call Memory-Based Models (MBM) that contains sparse population coding, memory-based recognition, and codebooks of prototypes. Unlike the sigmoidal units of some artificial neural networks, the units of MBMs are consistent with the description of cortical neurons. We describe how an example of MBM may be realized in terms of cortical circuitry and biophysical mechanisms, consistent with psychophysical and physiological data.

A Low Power Wide Dynamic Range Envelope Detector

We report a 75dB, 2.8mW, 100Hz-10kHz envelope detector in a 1.5mm 2.8V CMOS technology. The envelope detector performs input-dc-insensitive voltage-to-currentconverting rectification followed by novel nanopower current-mode peak detection. The use of a subthreshold wide- linear-range transconductor (WLR OTA) allows greater than 1.7Vpp input voltage swings. We show theoretically that this optimal performance is technology-independent for the given topology and may be improved only by spending more power. A novel circuit topology is used to perform 140nW peak detection with controllable attack and release time constants. The lower limits of envelope detection are determined by the more dominant of two effects: The first effect is caused by the inability of amplified high-frequency signals to exceed the deadzone created by exponential nonlinearities in the rectifier. The second effect is due to an output current caused by thermal noise rectification. We demonstrate good agreement of experimentally measured results with theory. The envelope detector is useful in low power bionic implants for the deaf, hearing aids, and speech-recognition front ends. Extension of the envelope detector to higher- frequency applications is straightforward if power consumption is inc

Teaching an Old Robot New Tricks: Learning Novel Tasks via Interaction with People and Things

As AI has begun to reach out beyond its symbolic, objectivist roots into the embodied, experientialist realm, many projects are exploring different aspects of creating machines which interact with and respond to the world as humans do. Techniques for visual processing, object recognition, emotional response, gesture production and recognition, etc., are necessary components of a complete humanoid robot. However, most projects invariably concentrate on developing a few of these individual components, neglecting the issue of how all of these pieces would eventually fit together. The focus of the work in this dissertation is on creating a framework into which such specific competencies can be embedded, in a way that they can interact with each other and build layers of new functionality. To be of any practical value, such a framework must satisfy the real-world constraints of functioning in real-time with noisy sensors and actuators. The humanoid robot Cog provides an unapologetically adequate platform from which to take on such a challenge. This work makes three contributions to embodied AI. First, it offers a general-purpose architecture for developing behavior-based systems distributed over networks of PC's. Second, it provides a motor-control system that simulates several biological features which impact the development of motor behavior. Third, it develops a framework for a system which enables a robot to learn new behaviors via interacting with itself and the outside world. A few basic functional modules are built into this framework, enough to demonstrate the robot learning some very simple behaviors taught by a human trainer. A primary motivation for this project is the notion that it is practically impossible to build an "intelligent" machine unless it is designed partly to build itself. This work is a proof-of-concept of such an approach to integrating multiple perceptual and motor systems into a complete learning agent.

Probabilistic Independence Networks for Hidden Markov Probability Models

Graphical techniques for modeling the dependencies of randomvariables have been explored in a variety of different areas includingstatistics, statistical physics, artificial intelligence, speech recognition, image processing, and genetics.Formalisms for manipulating these models have been developedrelatively independently in these research communities. In this paper weexplore hidden Markov models (HMMs) and related structures within the general framework of probabilistic independencenetworks (PINs). The paper contains a self-contained review of the basic principles of PINs.It is shown that the well-known forward-backward (F-B) and Viterbialgorithms for HMMs are special cases of more general inference algorithms forarbitrary PINs. Furthermore, the existence of inference and estimationalgorithms for more general graphical models provides a set of analysistools for HMM practitioners who wish to explore a richer class of HMMstructures.Examples of relatively complex models to handle sensorfusion and coarticulationin speech recognitionare introduced and treated within the graphical model framework toillustrate the advantages of the general approach.

Visual Speech Synthesis by Morphing Visemes

We present MikeTalk, a text-to-audiovisual speech synthesizer which converts input text into an audiovisual speech stream. MikeTalk is built using visemes, which are a small set of images spanning a large range of mouth shapes. The visemes are acquired from a recorded visual corpus of a human subject which is specifically designed to elicit one instantiation of each viseme. Using optical flow methods, correspondence from every viseme to every other viseme is computed automatically. By morphing along this correspondence, a smooth transition between viseme images may be generated. A complete visual utterance is constructed by concatenating viseme transitions. Finally, phoneme and timing information extracted from a text-to-speech synthesizer is exploited to determine which viseme transitions to use, and the rate at which the morphing process should occur. In this manner, we are able to synchronize the visual speech stream with the audio speech stream, and hence give the impression of a photorealistic talking face.