In this paper we address the problem of audio-visual speech recognition in the framework of the multi-stream hidden Markov model. Stream weight training based on minimum classification error criterion is discussed for use in large vocabulary continuous speech recognition (LVCSR). We present the lattice re-scoring and Viterbi approaches for calculating the loss function of continuous speech. The experimental results show that in the case of clean audio, the system performance can be improved by 36.1% in relative word error rate reduction when using state-based stream weights trained by a Viterbi approach, compared to an audio only speech recognition system. Further experimental results demonstrate that our audio-visual LVCSR system provides significant enhancement of robustness in noisy environments.