Speech Recognition

From RobotinoWiki
Revision as of 17:06, 9 February 2011 by 93.104.244.228 (talk) (→‎Step 7)

Speech Recognition on Robotino

Robotino can now comprehend basic human speech commands. Robotino uses the open source speech recognition engine called Julius.

Setting up Speech Recognition

Setting up speech recognition is done in two parts. The first part involves training of the speech data and creation of the acoustic model and the second involves the actual execution of the speech recognition engine with the created acoustic model.

Creating an Acoustic Model

The HTK toolkit (version 3.4) shall be used to create an acoustic model. Please follow the following steps.

Step 1

You will need to register with HTK before you can download it. Please do so.

Step 2

Download the sources for HTK toolkit 3.4 from here. Also download the HTK samples from here.

Step 3

  • Move to your home directory
 cd ~
  • Create a directory called 'bin'
 mkdir bin
  • Unpack the downloaded HTK toolkit sources and HTK samples in a folder called 'htk-3.4' in the 'bin' directory. The 'bin' directory should contain the following
  
htk-3.4 samples
  • Move the 'samples' folder to the 'htk-3.4' folder as follows
cd bin
mv samples htk-3.4
  • If you have a newer version of the gcc compiler (version 4 or above), you will need to install gcc version 3.4 so that HTK will compile properly. Use the following gcc's version command to see which version is installed on your system
gcc -v
  • If your gcc version is 4 and above, follow the listed commands to install gcc 3.4
 
sudo apt-get install gcc-3.4 
sudo rm /usr/bin/gcc
sudo ln -s /usr/bin/gcc-3.4 /usr/bin/gcc

NOTE - if the above doesn't work for you then maybe the hardy ubuntu package repository is not in your sources.list file. In that case, do the following. If it does work, then skip to the next bullet point. 

sudo gedit /etc/apt/sources.list
add the following line to the end of the sources.list file
deb http://de.archive.ubuntu.com/ubuntu/ hardy main universe
now run the following command
sudo apt-get update
This should pull the hardy ubuntu packages from the repository. You can now run the following commands.
 
sudo apt-get install gcc-3.4 
sudo rm /usr/bin/gcc
sudo ln -s /usr/bin/gcc-3.4 /usr/bin/gcc
  • Install the external dependencies as follows
sudo apt-get install libx11-dev libesd0-dev libasound2-dev libzip1 flex
  • Now move to the 'htk-3.4' dir and configure htk as follows. Note change %yourusername% from the command to your user name.
cd htk-3.4
./configure --prefix=/home/%yourusername%/bin/htk-3.4
  • Now run make all and make install. This should install the created binaries to the folder '/home/yourusername/bin/htk-3.4/bin' .
make all
make install
  • Change directory back to home and create a folder called 'voxforge' and then a folder called 'HTK_scripts' in the voxforge folder.
cd ~
mkdir voxforge
cd voxforge
mkdir HTK_scripts
cd HTK_scripts
  • Now copy some scripts from the 'htk-3.4/samples' folder to the 'HTK_scripts' folder as follows
cp ../../bin/htk-3.4/samples/RMHTK/perl_scripts/mkclscript.prl .
cp ../../bin/htk-3.4/samples/HTKTutorial/maketrihed .
cp ../../bin/htk-3.4/samples/HTKTutorial/prompts2mlf .
cp ../../bin/htk-3.4/samples/HTKTutorial/prompts2wlist .
  • Your 'HTK_scripts' folder should contain the following
maketrihed  mkclscript.prl  prompts2mlf  prompts2wlist

Step 4

  • Now we will download Julius (version 4.5.1). We shall be using pre-compiled binaries which can downloaded from here
  • Once downloaded extract them to your '/home/%yourusername%/bin' folder. After that is done your 'bin' folder should contain the following
htk-3.4  julius-4.1.5-linuxbin

Step 5

  • Now you will need to update your user path which can be done as follows. First change to your home directory and edit the .bashrc file.
cd ~
gedit .bashrc
  • Add the following to the end of the .bashrc file. Note change %yourusername% from the command to your username.
# HTK and JULIUS scripts and executables
PATH=$PATH:$HOME/bin:/home/%yourusename%/bin/htk-3.4/bin:/home/%yourusename%/bin/julius-4.1.5-linuxbin/bin
  • Source your .bashrc file to reflect the changes
source ~/.bashrc
  • Test if your HTK toolkit has been installed correctly by running the following command.
HVite -V
You should see an output similar to the following.

HTK Version Information
Module     Version    Who    Date      : CVS Info
HVite      3.4        CUED   25/04/06  : $Id: HVite.c,v 1.1.1.1 2006/10/11 09:55:02 jal58 Exp $
HShell     3.4        CUED   25/04/06  : $Id: HShell.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
HMem       3.4        CUED   25/04/06  : $Id: HMem.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
HLabel     3.4        CUED   25/04/06  : $Id: HLabel.c,v 1.1.1.1 2006/10/11 09:54:57 jal58 Exp $
HMath      3.4        CUED   25/04/06  : $Id: HMath.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
HSigP      3.4        CUED   25/04/06  : $Id: HSigP.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
HWave      3.4        CUED   25/04/06  : $Id: HWave.c,v 1.1.1.1 2006/10/11 09:54:59 jal58 Exp $
HAudio     3.4        CUED   25/04/06  : $Id: HAudio.c,v 1.1.1.1 2006/10/11 09:54:57 jal58 Exp $
HVQ        3.4        CUED   25/04/06  : $Id: HVQ.c,v 1.1.1.1 2006/10/11 09:54:59 jal58 Exp $
HModel     3.4        CUED   25/04/06  : $Id: HModel.c,v 1.2 2006/12/07 11:09:08 mjfg Exp $
HParm      3.4        CUED   25/04/06  : $Id: HParm.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
HDict      3.4        CUED   25/04/06  : $Id: HDict.c,v 1.1.1.1 2006/10/11 09:54:57 jal58 Exp $
HNet       3.4        CUED   25/04/06  : $Id: HNet.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
HRec       3.4        CUED   25/04/06  : $Id: HRec.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
HUtil      3.4        CUED   25/04/06  : $Id: HUtil.c,v 1.1.1.1 2006/10/11 09:54:59 jal58 Exp $
HAdapt     3.4        CUED   25/04/06  : $Id: HAdapt.c,v 1.2 2006/12/07 11:09:07 mjfg Exp $
HMap       3.4        CUED   25/04/06  : $Id: HMap.c,v 1.1.1.1 2006/10/11 09:54:57 jal58 Exp $
  • Test if Julius has been installed correctly by entering the following command in the terminal
julius-4.1.5
You should see an output similar to the following
Julius rev.4.1.5 - based on 
JuliusLib rev.4.1.5 (fast)  built for i686-pc-linux

Copyright (c) 1991-2009 Kawahara Lab., Kyoto University
Copyright (c) 1997-2000 Information-technology Promotion Agency, Japan
Copyright (c) 2000-2005 Shikano Lab., Nara Institute of Science and Technology
Copyright (c) 2005-2009 Julius project team, Nagoya Institute of Technology

Try '-setting' for built-in engine configuration.
Try '-help' for run time options.
  • Now to switch back to your original gcc version, do the following (The original version in my case was 4.3, yours may differ)
 
sudo rm /usr/bin/gcc
sudo ln -s /usr/bin/gcc-4.3 /usr/bin/gcc

Step 6

Install Audacity as follows 

sudo apt-get install audacity

Step 7

We will now compile the grammar and voca files.

  • Create a folder called 'auto' in your '/home/%yourusename%/voxforge' directory
cd ~
cd voxforge
mkdir auto
cd auto
  • Download the grammar and voca files from here. Extract them in your 'auto' folder you just created. After extraction your 'auto' folder should contain the following
robotino.grammar  robotino.voca
  • Now compile the grammar and voca files to Julius files. Make sure you are in the 'auto' folder. Run the following command
mkdfa.pl robotino

KNOWN ERROR - in case you get an error as follows while running the command above 

/usr/X11R6/bin/perl: bad interpreter: No such file or directory
Then open the mkdfa.pl file
gedit ~/bin/julius-4.1.5-linuxbin/bin/mkdfa.pl
And change the first line from
#!/usr/X11R6/bin/perl
To
#!/usr/bin/perl
And run the command again
mkdfa.pl robotino
You should see an output as follows
robotino.grammar has 11 rules
robotino.voca    has 10 categories and 27 words
---
Now parsing grammar file
Now modifying grammar to minimize states[7]
Now parsing vocabulary file
Now making nondeterministic finite automaton[31/31]
Now making deterministic finite automaton[24/24] 
Now making triplet list[24/24]
10 categories, 24 nodes, 32 arcs
-> minimized: 11 nodes, 19 arcs
---
generated: robotino.dfa robotino.term robotino.dict

Step 8

Now we shall proceed to the training and creation of the acoustic model.

  • Download the prompts file and save it in your '/home/%yourusername%/voxforge/auto' folder. Your 'voxforge/auto' folder should look like this
prompts       robotino.dict     robotino.term
robotino.dfa  robotino.grammar  robotino.voca
  • Now create a folder called 'lexicon' in the 'voxforge' directory.
cd ~
cd voxforge
mkdir lexicon
  • Download the lexicon file from here and save it in the 'voxforge/lexicon' folder you just created.
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