Robust Sensor Fusion: Analysis and Application to Audio Visual Speech Recognition

Abstract

This paper analyzes the issue of catastrophic fusion, a problem that occurs in multimodal recognition systems that integrate the output from several modules while working in non-stationary environments. For concreteness we frame the analysis with regard to the problem of automatic audio visual speech recognition (AVSR), but the issues at hand are very general and arise in multimodal recognition systems which need to work in a wide variety of contexts. Catastrophic fusion is said to have occurred when the performance of a multimodal system is inferior to the performance of some isolated modules, e.g., when the performance of the audio visual speech recognition system is inferior to that of the audio system alone. Catastrophic fusion arises because recognition modules make implicit assumptions and thus operate correctly only within a certain context. Practice shows that when modules are tested in contexts inconsistent with their assumptions, their influence on the fused product tends to increase, with catastrophic results. We propose a principled solution to this problem based upon Bayesian ideas of competitive models and inference robustification. We study the approach analytically on a classic Gaussian discrimination task and then apply it to a realistic problem on audio visual speech recognition (AVSR) with excellent results.