Speech recognition system for a service robot - a performance evaluation

Abstract

In this work we adapt and evaluate different solutions for automatic speech recognition (ASR) to be used as an HMI for the assistant robot. Two on-device solutions: Kaldi (DNN-HMM) and Mozilla's DeepSpeech (end-to-end), and three internet service APIs: IBM Watson, Microsoft Azure and Google Speech to Text are evaluated. The systems are adapted to the domain of robot commands and evaluated on a set of expected inputs. As the goal is to retain the ability to recognise general language, the systems are also evaluated on out of domain data.