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Figure 6 | EURASIP Journal on Audio, Speech, and Music Processing

Figure 6

From: Combined perception and control for timing in robotic music performances

Figure 6

The performance of the perception model for a monophonic claves sound. In the leftmost figure, the spectral templates of the acoustic events are shown. These events consist of {1:claves hit, 2:silence, and 3:conga hit}. The topmost three figures illustrate the smoothing distribution of the velocity variables n τ , bar position variables m τ , and the acoustic event indicator variables r τ . It can be observed that the model correctly captures the tempo change in the audio. Besides, the model correctly detects the claves hits as well, where it does not detect any false conga hits.

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