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A comment on Google opens access to its speech recognition API. Parent comment
The Word Error Rates (lower is better) for each recognizer on two different corpora, VM1 and WSJ1:
RECOGNIZER VM1 WSJ1 HDecode v3.4.1 22.9 19.8 Julius v4.3 27.2 23.1 pocketsphinx v0.8 23.9 21.4 Sphinx-4 26.9 22.7 Kaldi 12.7 6.5
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The Word Error Rates (lower is better) for each recognizer on two different corpora, VM1 and WSJ1: