WO2009153995A1 - 量子化装置、符号化装置およびこれらの方法 - Google Patents
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- G10L19/00—Speech or audio signals analysis-synthesis techniques for redundancy reduction, e.g. in vocoders; Coding or decoding of speech or audio signals, using source filter models or psychoacoustic analysis
- G10L19/008—Multichannel audio signal coding or decoding using interchannel correlation to reduce redundancy, e.g. joint-stereo, intensity-coding or matrixing
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- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
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- the present invention relates to a quantization apparatus that quantizes a value related to a transform coefficient when performing stereo encoding by applying principal component analysis transform, an encoding apparatus that performs stereo encoding using the transform coefficient, and a method thereof. .
- Speech coding is used for communication applications that use narrowband speech in the telephone band (200 Hz to 3.4 kHz).
- Monaural audio narrowband audio codecs are widely used in communications applications such as mobile telephones, teleconferencing equipment and recently voice communications over packet networks (eg, the Internet).
- a monaural signal that is the sum of a left channel signal and a right channel signal and a side signal that is a difference between the left channel signal and the right channel signal are obtained, and the monaural signal and the side signal are encoded.
- a method of encoding each signal is known (see Patent Document 1 and Patent Document 2).
- the left channel signal and the right channel signal are signals representing sounds coming from human ears, and the monaural signal can represent the common part of the left channel signal and the right channel signal, and the side signal represents the left channel signal. And the spatial difference between the right channel signal and the right channel signal.
- the left channel signal L and the right channel signal R of a stereo signal are expressed by using the two weighting factors W 1 and W 2 as shown in the equations (1-1) and (1-2),
- a method for converting to a monaural signal M and a side signal S is disclosed.
- x 1 and i indicate the left channel signal L
- x 2 and i indicate the right channel signal R
- y 1 and i indicate the monaural signal M
- y 2 and i indicate the side signal S.
- I is an index indicating time.
- the left channel signal L and the right channel signal R are signals that enter from the left and right sides of the person's head and have high correlation. Therefore, a signal that represents most of the left and right signals is obtained by the monaural signal M, and the side signal S Thus, a signal representing a spatial difference component between the left and right signals can be obtained.
- appropriate encoding according to the respective characteristics becomes possible, and the left channel signal L and The redundancy is less than when the right channel signal R is encoded as it is, and high-quality encoding can be realized at a low bit rate.
- W 1 and W 2 can be obtained from the relationship of the equations (3-1) and (3-2). Therefore, instead of the two weighting factors W 1 and W 2 , it is only necessary to notify the decoding side of the rotation angle ⁇ , so that the encoding efficiency is improved as compared with the case of notifying the two weighting factors W 1 and W 2 . be able to. Further, instead of the rotation angle ⁇ , one of the two weighting factors W 1 and W 2 may be notified to the decoding side. This is because the two weighting factors W 1 and W 2 satisfy the relationship of the expression (2), and if one of them is known, the other is also known.
- Patent Document 2 discloses a method of obtaining the weighting factor by principal component analysis and notifying one of the two weighting factors to the decoding side. Specifically, an iterative method using Oja rules is described.
- Non-Patent Document 1 and Non-Patent Document 2 disclose a method for performing principal component analysis using KL transform (Karhunen-Loeve-Transform). Specifically, an algorithm for obtaining a rotation angle for converting two vectors by KL conversion is disclosed.
- Non-Patent Document 2 discloses a method for obtaining the rotation angle ⁇ from the power of the first signal, the power of the second signal, and the correlation value between the first signal and the second signal.
- the rotation angle ⁇ is derived by an algorithm for obtaining an eigenvector (an element sum of squares is 1) by eigenvalue expansion using a two-dimensional correlation matrix. By separating the obtained rotation angle ⁇ and transmitting it, signal separation and coding can be performed efficiently.
- An example of quantization is scalar quantization using a table.
- the power C 11 of the input left channel signal L, the power C 22 of the right channel signal R, and the correlation value C 12 are calculated using equations (4-1) to (4-3).
- Non-Patent Document 2 discloses a rotation angle calculation method by PCA (Principal Component Analysis), which is one of the methods for obtaining a coefficient of KL conversion.
- Formula (5) shows the calculation formula for the rotation angle disclosed in Non-Patent Document 2.
- the quantization code corresponding to the rotation angle closest to the rotation angle ⁇ obtained by Expression (5) is notified to the decoding side from a plurality of sets in which the rotation angle and the quantization code are associated in advance.
- the encoding efficiency can be improved as compared with the case where the two transform coefficients W 1 and W 2 required when performing the principal component analysis are notified.
- Non-Patent Document 2 efficient encoding is performed by quantizing the rotation angle when two vectors (signal or spectrum) are converted into different vectors by principal component analysis.
- Non-Patent Document 1 discloses an example in which the quantization target is the coefficient itself of KL transform instead of the rotation angle.
- the quantization method disclosed in Non-Patent Document 2 requires a calculation such as division and trigonometric function in calculating the rotation angle ⁇ . There is a problem. Also, the quantization method disclosed in Non-Patent Document 1 must eventually calculate coefficients by principal component analysis, which requires division and square root calculation. There is a problem that there are many.
- the present invention has been made in view of such a point, and reduces the amount of calculation when quantizing values related to transform coefficients of principal component analysis transformation when performing principal encoding by applying principal component analysis transformation. It is an object of the present invention to provide a quantization apparatus that can perform the encoding, an encoding apparatus that performs stereo encoding using the transform coefficient, and a method thereof.
- a quantization apparatus is a quantization apparatus that quantizes a value related to a transform coefficient when principal component analysis transform is performed on a first vector signal and a second vector signal, wherein the first vector signal has power, A power of two vector signals, a power / correlation calculating means for calculating a correlation value between the first vector signal and the second vector signal, a power of the first vector signal, and a power of the second vector signal.
- Intermediate value calculation means for calculating a result obtained by performing the difference calculation used as an intermediate value, and a code for holding a plurality of numbered pairs of first coefficient and second coefficient related to the conversion coefficient
- the encoding device of the present invention rotates the first vector signal and the second vector signal using the quantization device and the transform coefficient corresponding to the code selected by the quantization means,
- a configuration is provided that includes a conversion unit that obtains a monaural signal and a side signal, a first encoding unit that encodes the monaural signal, and a second encoding unit that encodes the side signal.
- the quantization method of the present invention is a quantization method for quantizing a value related to a transform coefficient when principal component analysis transform is performed on a first vector signal and a second vector signal, the power of the first vector signal, A step of calculating a power of two vector signals, a correlation value between the first vector signal and the second vector signal, and a difference calculation using the power of the first vector signal and the power of the second vector signal Calculating the result obtained by performing as an intermediate value, and reading the first number read from a codebook that holds a plurality of numbered pairs of the first coefficient and the second coefficient related to the transform coefficient An addition result of a first multiplication result obtained by multiplying a coefficient by the correlation value and a second multiplication result obtained by multiplying the second coefficient by the intermediate value is calculated as a reference value, Reference value Based on of it come, and to have a step of selecting the number as a code.
- the main component analysis transformation is applied to perform stereo coding without performing arithmetic processing such as trigonometric function and division. Since the quantization code corresponding to the transform coefficient can be obtained, it is possible to reduce the amount of calculation when quantizing the value related to the transform coefficient of the principal component analysis transform.
- the block diagram which shows the structure of the encoding apparatus containing the quantization apparatus which concerns on one embodiment of this invention The figure which shows an example of the table hold
- the block diagram which shows the structure of the decoding apparatus which concerns on the said one embodiment The figure which shows an example of the table hold
- two vectors input to the quantization device are a left channel signal and a right channel signal in a stereo signal.
- FIG. 1 is a block diagram showing a main configuration of an encoding apparatus including a quantization apparatus according to the present embodiment. 1 mainly includes a quantizing device 110, a transforming unit 120, a monaural coding unit 130, a side coding unit 140, and a multiplexing unit 150.
- the quantization apparatus 110 acquires the transform coefficients W 1 and W 2 used when the principal component analysis is performed in the transform unit 120 from the left channel signal L and the right channel signal R in the stereo signal, and the obtained transform coefficient W 1. , W 2 are output to the conversion unit 120. Further, the quantization device 110 acquires the quantization code corresponding to the transform coefficients W 1 and W 2 and outputs the acquired quantization code to the multiplexing unit 150.
- the internal configuration of the quantization device 110 will be described later.
- the conversion unit 120 uses the transform coefficients W 1 and W 2 output from the quantization device 110 to convert the left channel signal L and the right channel signal R into Equations (6-1) and (6-2). Thus, the signal is converted into a monaural signal M and a side signal S.
- Equations (6-1) and (6-2) x 1 and i indicate the left channel signal L, and x 2 and i indicate the right channel signal R. Further, y 1 and i indicate the monaural signal M, and y 2 and i indicate the side signal S.
- I is an index indicating time.
- the conversion unit 120 outputs the monaural signal M to the monaural encoding unit 130 and outputs the side signal S to the side encoding unit 140.
- the monaural encoding unit 130 encodes the monaural signal M and outputs the obtained encoded data to the multiplexing unit 150.
- the side encoding unit 140 encodes the side signal S and outputs the obtained encoded data to the multiplexing unit 150.
- the multiplexing unit 150 multiplexes the encoded data of the monaural signal M, the encoded data of the side signal S, and the quantization code, and outputs a multiplexed bit stream.
- the quantization apparatus 110 includes a power / correlation calculation unit 111, an intermediate value calculation unit 112, a codebook 113, and a quantization unit 114.
- the power / correlation calculation unit 111 uses the expressions (7-1) to (7-3) to input the power C 11 of the input left channel signal L, the power C 22 of the right channel signal R, and the correlation value to calculate the C 12.
- the power / correlation calculation unit 111 outputs the powers C 11 and C 22 and the correlation value C 12 to the intermediate value calculation unit 112, and outputs the correlation value C 12 to the quantization unit 114.
- the intermediate value calculation unit 112 calculates the intermediate value C 1122 from Expression (8) using the powers C 11 and C 22 , and outputs the intermediate value C 1122 to the quantization unit 114.
- the code book 113 holds a plurality of coefficients ⁇ 1, n , ⁇ 2, n used in the quantization unit 114.
- FIG. 2 shows an example of a table held by the code book 113.
- FIG. 2 is an example of a table used when the coefficients ⁇ 1, n and ⁇ 2, n are scalar-coded with 3 bits. As shown in FIG. 2, the table is numbered with coefficients ⁇ 1, n , ⁇ 2, n .
- the numerical value of the number is described in FIG. 2 in the binary system, it is not actually necessary to store this numerical value in the memory, and the order of the coefficients (the number indicating the order) is used as a code.
- FIG. 2 shows an example in which the codebook 113 holds coefficients ⁇ 1, n , ⁇ 2, n and conversion coefficients W 1 , W 2 corresponding to the coefficients ⁇ 1, n , ⁇ 2, n in advance. Has been.
- the quantization unit 114 selects, from the codebook 113, coefficients ⁇ 1, n and ⁇ 2, n that maximize the cost function E expressed by the equation (9).
- the quantization unit 114 outputs the numbers of the selected coefficients ⁇ 1, n and ⁇ 2, n as codes (quantization codes) to the multiplexing unit 150. Further, the quantization unit 114 outputs the transform coefficients W 1 and W 2 corresponding to the selected coefficients ⁇ 1, n and ⁇ 2, n to the transform unit 120.
- conversion section 120 converts left channel signal L and right channel signal R into monaural signal M and side signal S using equations (6-1) and (6-2). .
- the conversion unit 120 performs KL conversion.
- equation (12) is obtained.
- equation (13) is obtained.
- the coefficients ⁇ 1, n and ⁇ 2, n are quantized and notified to the decoding side. Therefore, the codebook 113 holds the coefficients ⁇ 1, n and ⁇ 2, n and the quantization code in association with each other.
- the coefficients ⁇ 1, n , ⁇ 2, n and the rotation angle ⁇ have the relationship of the equations (14-1) and (14-2), so that on the decoding side, the quantization code is used.
- the coefficients ⁇ 1, n , ⁇ 2, n and the rotation angle ⁇ can be associated with each other on a one-to-one basis.
- the quantization unit 114 selects a quantization code associated with the coefficients ⁇ 1, n , ⁇ 2, n that maximizes the cost function E represented by Expression (9). As a result, it is possible to obtain a quantized code corresponding to a transform coefficient when performing stereo coding by applying principal component analysis transform without performing arithmetic processing such as trigonometric function and division. The amount of calculation can be reduced.
- Equation (9) there is a relationship such as Equation (15-1) and Equation (15-2) between the coefficients ⁇ 1, n and ⁇ 2, n and the transformation coefficients W 1 , W 2. Therefore, the codebook 113 holds the conversion coefficients W 1 and W 2 corresponding to the coefficients ⁇ 1, n and ⁇ 2, n in advance in a table format. Thereby, the quantization unit 114 can immediately acquire the transform coefficients W 1 and W 2 corresponding to the selected coefficients ⁇ 1, n , ⁇ 2 and n, and does not need to calculate the transform coefficients W 1 and W 2. Therefore, the amount of calculation required for principal component analysis can be further reduced.
- FIG. 3 is a block diagram showing a main configuration of a decoding apparatus that decodes a bitstream transmitted from encoding apparatus 100 according to the present embodiment.
- the decoding device 200 shown in FIG. 3 mainly includes a separation unit 210, a monaural decoding unit 220, a side decoding unit 230, an inverse quantization device 240, and an inverse transform unit 250.
- the separation unit 210 separates the bit stream into encoded data of the monaural signal M, encoded data of the side signal S, and quantization code. Separation section 210 then outputs the encoded data of monaural signal M to monaural decoding section 220, outputs the encoded data of side signal S to side decoding section 230, and outputs the quantized code to inverse quantization apparatus 240. To do.
- the monaural decoding unit 220 decodes the encoded data of the monaural signal M, and outputs the obtained monaural regeneration signal M ′ to the inverse conversion unit 250.
- the side decoding unit 230 decodes the encoded data of the side signal S and outputs the obtained side regeneration signal S ′ to the inverse conversion unit 250.
- the inverse quantization device 240 calculates weighting factors W 1 and W 2 from the rotation angle ⁇ corresponding to the quantization code, and outputs the obtained weighting factors W 1 and W 2 to the inverse transform unit 250. Note that the internal configuration of the inverse quantization apparatus 240 will be described later.
- the inverse transform unit 250 uses the weight coefficients W 1 and W 2 , the monaural regeneration signal M ′, and the side regeneration signal S ′ to regenerate the left channel from Equation (16-1) and Equation (16-2).
- a signal L ′ and a right channel regeneration signal R ′ are obtained.
- x ′ 1, i indicates the left channel regeneration signal L ′
- x ′ 2, i indicates the right channel regeneration signal R ′.
- y ′ 1, i indicates the monaural regeneration signal M ′
- y ′ 2, i indicates the side regeneration signal S ′.
- I is an index indicating time.
- the inverse quantization device 240 has a codebook 241 and an inverse quantization unit 242.
- the codebook 241 holds a plurality of sets of rotation angles and quantization codes.
- FIG. 4A shows an example of a table held by the code book 241.
- FIG. 4A is an example of a table used when a rotation angle is 3 bits and scalar encoding is performed. As illustrated in FIG. 4A, the rotation angle and the quantization code are associated with each other in the table.
- the coefficients ⁇ 1, n , ⁇ 2, n and the rotation angle ⁇ have the relationship of the equations (14-1) and (14-2), so the table includes the coefficients
- the rotation angle and the quantization code are associated with each other such that ⁇ 1, n , ⁇ 2, n and the rotation angle ⁇ have a one-to-one correspondence through the quantization code.
- the inverse quantization unit 242 selects the rotation angle ⁇ corresponding to the quantization code, and uses the selected rotation angle ⁇ and Equations (17-1) and (17-2) to weight factors W 1 , W 2. And the obtained weighting factors W 1 and W 2 are output to the inverse transform unit 250.
- the codebook 241 holds the transform coefficients W 1 and W 2 corresponding to the rotation angles ⁇ 1 to ⁇ 8 in advance, and the inverse quantization device 240 reverses the transform coefficients W 1 and W 2 corresponding to the quantization code.
- the inverse conversion unit 250 can omit the calculations of the equations (17-1) and (17-2).
- FIG. 4B shows an example of a table in which quantization codes, rotation angles ⁇ 1 to ⁇ 8, and transform coefficients W 1 and W 2 are associated with each other.
- the quantization code associated with the coefficients ⁇ 1, n , ⁇ 2, n that maximizes the cost function E represented by Expression (9) is selected.
- the same quantization code on the encoding side and the decoding side includes coefficients ⁇ 1, n , ⁇ 2, n and a rotation angle ⁇ satisfying the relationship of Expression (14-1) and Expression (14-2).
- the quantization code corresponding to the rotation angle ⁇ is notified to the decoding side as in the conventional case, so that the conventional configuration is not changed without changing the configuration on the decoding side. Can be used.
- the codebook 113 holds a table in which the quantization code and the conversion coefficients W 1 and W 2 corresponding to the quantization code are associated with each other, and the quantization unit 114 has the conversion unit 120. It was designed to output the transform coefficients W 1, W 2, the present invention is not limited thereto.
- the codebook 113 holds a table in which the coefficients ⁇ 1, n , ⁇ 2, n and the quantization code are associated, and the conversion unit 120 converts the quantization code and the conversion corresponding to the quantization code.
- a table in which the coefficients W 1 and W 2 are associated may be held.
- the quantization unit 114 outputs the quantization code associated with the coefficients ⁇ 1, n , ⁇ 2, n that maximizes the cost function E represented by the equation (9) to the conversion unit 120,
- the conversion unit 120 may perform principal component analysis conversion using the conversion coefficients W 1 and W 2 corresponding to the quantization code.
- the inverse transform unit 250 may hold a table in which the quantization code is associated with the transform coefficients W 1 and W 2 corresponding to the quantization code.
- the decoded sound decoded by the conventional decoding device is only slightly different from the conventional decoded sound in digital samples, and the encoding method according to the present embodiment is theoretical. In particular, it was verified that the conventional features were not lost at all.
- the two stereo signals are represented using the names of the left channel signal and the right channel signal.
- a more general first channel signal, second channel signal, or first vector signal can also be used.
- the present invention may use a frequency spectrum on the frequency axis as an input vector.
- a partial section of a signal on the time axis or the frequency axis may be used as an input vector. This is because the present invention does not depend on vector properties such as the type of vector.
- the decoding apparatus according to the above embodiment has been described by taking as an example the case where the bit stream transmitted by the encoding apparatus according to the above embodiment is received and processed.
- the present invention is not limited to this, and the bitstream received and processed by the decoding apparatus according to the above embodiment is an encoding apparatus capable of generating a bitstream that can be processed by the decoding apparatus according to the above embodiment. As long as it is sent.
- the present invention is also effective when the information encoded on the encoding side is stored in a recording medium. is there. Audio signals are often used by being stored in a recording medium such as a memory or a disk, and the present invention is also effective in that case.
- the encoded information may be printed on a medium such as a print code, and the encoded information printed on the decoding side may be read.
- the present invention is not limited in the number of channels, and is effective even in the case of multi-channels such as 5.1 ch, with a time difference from a fixed channel. If a correlated channel is clarified, it can be applied as it is.
- the above description is an illustration of a preferred embodiment of the present invention, and the scope of the present invention is not limited to this.
- the present invention can be applied to any system as long as the system includes an encoding device and a decoding device.
- the encoding device and the decoding device according to the present invention can be mounted on a communication terminal device and a base station device in a mobile communication system, whereby a communication terminal device and a base having the same operational effects as described above.
- a station apparatus and a mobile communication system can be provided.
- the present invention can also be realized by software.
- the function according to the present invention can be realized by describing the algorithm according to the present invention in a programming language, storing the program in a memory, and causing the information processing means to execute the same function as the encoding apparatus according to the present invention. it can.
- each functional block used in the description of the above embodiment is typically realized as an LSI which is an integrated circuit. These may be individually made into one chip, or may be made into one chip so as to include a part or all of them.
- LSI LSI
- IC system LSI
- super LSI ultra LSI
- the method of circuit integration is not limited to LSI, and implementation with a dedicated circuit or a general-purpose processor is also possible.
- An FPGA Field Programmable Gate Array
- a reconfigurable processor that can reconfigure the connection or setting of circuit cells inside the LSI may be used.
- the quantization device, the coding device, and these methods according to the present invention are suitable for use in mobile phones, IP phones, video conferences, and the like.
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Abstract
Description
110 量子化装置
120 変換部
130 モノラル符号化部
140 サイド符号化部
150 多重化部
111 パワ・相関計算部
112 中間値計算部
113,241 符号帳
114 量子化部
200 復号装置
210 分離部
220 モノラル復号部
230 サイド復号部
240 逆量子化装置
242 逆量子化部
250 逆変換部
Claims (5)
- 第1ベクトル信号および第2ベクトル信号を主成分分析変換する際の変換係数に関する値を量子化する量子化装置であって、
前記第1ベクトル信号のパワ、前記第2ベクトル信号のパワ、および、前記第1ベクトル信号と前記第2ベクトル信号との相関値を算出するパワ・相関算出手段と、
前記第1ベクトル信号のパワと前記第2ベクトル信号のパワとを用いた差分演算を行って得られる結果を中間値として算出する中間値算出手段と、
前記変換係数に関する、番号付けられた、第1の係数と第2の係数との組を、複数保持する符号帳と、
前記第1の係数に前記相関値を乗算し得られる第1の乗算結果と、前記第2の係数に前記中間値を乗算して得られる第2の乗算結果との加算結果を、参照値として算出し、前記参照値の大きさに基づいて、前記番号を符号として選択する量子化手段と、
を具備する量子化装置。 - 前記量子化手段は、
前記参照値を最大とする、前記第1の係数および前記第2の係数の組に対応する前記番号を前記符号として選択する、
請求項1に記載の量子化装置。 - 請求項1に記載の量子化装置と、
前記量子化手段により選択された前記符号に対応する前記変換係数を用いて、前記第1ベクトル信号および前記第2ベクトル信号を回転させて、モノラル信号およびサイド信号を得る変換手段と、
前記モノラル信号を符号化する第1符号化手段と、
前記サイド信号を符号化する第2符号化手段と、
を具備する符号化装置。 - 第1ベクトル信号および第2ベクトル信号を主成分分析変換する際の変換係数に関する値を量子化する量子化方法であって、
前記第1ベクトル信号のパワ、前記第2ベクトル信号のパワ、および、前記第1ベクトル信号と前記第2ベクトル信号との相関値を算出するステップと、
前記第1ベクトル信号のパワと前記第2ベクトル信号のパワとを用いた差分演算を行って得られる結果を中間値として算出するステップと、
前記変換係数に関する、番号付けられた、第1の係数と第2の係数との組を複数保持する符号帳から読み出した前記第1の係数に前記相関値を乗算し得られる第1の乗算結果と、前記符号帳から読み出した前記第2の係数に前記中間値を乗算して得られる第2の乗算結果との加算結果を、参照値として算出し、前記参照値の大きさに基づいて、前記番号を符号として選択するステップと、
を有する量子化方法。
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EP09766443.7A EP2293292B1 (en) | 2008-06-19 | 2009-06-18 | Quantizing apparatus, quantizing method and encoding apparatus |
RU2010151983/08A RU2486609C2 (ru) | 2008-06-19 | 2009-06-18 | Квантователь, кодер и их способы |
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JP2015129785A (ja) * | 2014-01-06 | 2015-07-16 | 日本電信電話株式会社 | 符号化装置、復号装置、符号化方法、復号方法、およびプログラム |
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US8452587B2 (en) * | 2008-05-30 | 2013-05-28 | Panasonic Corporation | Encoder, decoder, and the methods therefor |
RU2486609C2 (ru) * | 2008-06-19 | 2013-06-27 | Панасоник Корпорейшн | Квантователь, кодер и их способы |
SG11201502613XA (en) | 2012-10-05 | 2015-05-28 | Fraunhofer Ges Forschung | An apparatus for encoding a speech signal employing acelp in the autocorrelation domain |
RU2665287C2 (ru) * | 2013-12-17 | 2018-08-28 | Нокиа Текнолоджиз Ой | Кодер звукового сигнала |
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JPWO2009153995A1 (ja) | 2011-11-24 |
JP5425066B2 (ja) | 2014-02-26 |
EP2293292A1 (en) | 2011-03-09 |
EP2293292A4 (en) | 2012-05-23 |
US20110125495A1 (en) | 2011-05-26 |
RU2010151983A (ru) | 2012-06-27 |
RU2486609C2 (ru) | 2013-06-27 |
EP2293292B1 (en) | 2013-06-05 |
US8473288B2 (en) | 2013-06-25 |
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