Real-Time Simultaneous Localization and Mapping with LiDAR intensity

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies on geometric features such as points, lines and planes. A lack of these features in the environment can lead to the failure of the entire odometry system. To avoid this problem, we extract feature points from the LiDAR-generated point cloud that match features identified in LiDAR intensity images. We then use the extracted feature points to perform scan registration and estimate the robot ego-movement. For the back-end, we jointly optimize the distance between the corresponding feature points, and the point to plane distance for planes identified in the map. In addition, we use the features extracted from intensity images to detect loop closure candidates from previous scans and perform pose graph optimization. Our experiments show that our method can run in real time with high accuracy and works well with illumination changes, low-texture, and unstructured environments.

Enhanced exemplar autoencoder with cycle consistency loss in any-to-one voice conversion

Recent research showed that an autoencoder trained with speech of a single speaker, called exemplar autoencoder (eAE), can be used for any-to-one voice conversion (VC). Compared to large-scale many-to-many models such as AutoVC, the eAE model is easy and fast in training, and may recover more details of the target speaker. To ensure VC quality, the latent code should represent and only represent content information. However, this is not easy to attain for eAE as it is unaware of any speaker variation in model training. To tackle the problem, we propose a simple yet effective approach based on a cycle consistency loss. Specifically, we train eAEs of multiple speakers with a shared encoder, and meanwhile encourage the speech reconstructed from any speaker-specific decoder to get a consistent latent code as the original speech when cycled back and encoded again. Experiments conducted on the AISHELL-3 corpus showed that this new approach improved the baseline eAE consistently. The source code and examples are available at the project page: http://project.cslt.org/.

C-P Map: A Novel Evaluation Toolkit for Speaker Verification

Evaluation trials are used to probe performance of automatic speaker verification (ASV) systems. In spite of the clear importance and impact, evaluation trials have not been seriously treated in research and engineering practice. This paper firstly presents a theoretical analysis on evaluation trials and highlights potential bias with the most popular cross-pairing approach used in trials design. To interpret and settle this problem, we define the concept of trial config and C-P map derived from it. The C-P map measures the performance of an ASV system on various trial configs in a 2-dimensional map. On the map, each location represents a particular trial config and its corresponding color represents the system performance. Experiments conducted on representative ASV systems show that the proposed C-P map offers a powerful evaluation toolkit for ASV performance analysis and comparison. The source code for C-P map has been release at https://gitlab.com/csltstu/sunine.