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Combining
Pattern Classifiers
Methods and Algorithms, Second Edition
Ludmila Kuncheva
COMBINING PATTERN
CLASSIFIERS
COMBINING PATTERN
CLASSIFIERS
Methods and Algorithms
Second Edition
LUDMILA I. KUNCHEVA
Copyright © 2014 by John Wiley & Sons, Inc. All rights reserved.
No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or
by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as
permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior
written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to
the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, (978) 750-8400,
fax (978) 646-8600, or on the web at www.copyright.com. Requests to the Publisher for permission
should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street,
Hoboken, NJ 07030, (201) 748-6011, fax (201) 748-6008.
Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in
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completeness of the contents of this book and specifically disclaim any implied warranties of
merchantability or fitness for a particular purpose. No warranty may be created or extended by sales
representatives or written sales materials. The advice and strategies contained herin may not be suitable
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Wiley also publishes its books in a variety of electronic formats. Some content that appears in print,
however, may not be available in electronic format.
MATLAB® is a trademark of The MathWorks, Inc. and is used with permission. The MathWorks does
not warrant the accuracy of the text or exercises in this book. This book’s use or discussion of
MATLAB® software or related products does not constitute endorsement or sponsorship by The
MathWorks of a particular pedagogical approach or particular use of the MATLAB® software.
10 9 8 7 6 5 4 3 2 1
To Roumen, Diana and Kamelia
CONTENTS
Preface xv
Acknowledgements xxi
vii
viii CONTENTS
2 Base Classifiers 49
2.1 Linear and Quadratic Classifiers, 49
2.1.1 Linear Discriminant Classifier, 49
2.1.2 Nearest Mean Classifier, 52
2.1.3 Quadratic Discriminant Classifier, 52
2.1.4 Stability of LDC and QDC, 53
2.2 Decision Tree Classifiers, 55
2.2.1 Basics and Terminology, 55
2.2.2 Training of Decision Tree Classifiers, 57
2.2.3 Selection of the Feature for a Node, 58
2.2.4 Stopping Criterion, 60
2.2.5 Pruning of the Decision Tree, 63
2.2.6 C4.5 and ID3, 64
2.2.7 Instability of Decision Trees, 64
2.2.8 Random Trees, 65
2.3 The Naı̈ve Bayes Classifier, 66
2.4 Neural Networks, 68
2.4.1 Neurons, 68
2.4.2 Rosenblatt’s Perceptron, 70
2.4.3 Multi-Layer Perceptron, 71
2.5 Support Vector Machines, 73
2.5.1 Why Would It Work?, 73
2.5.2 Classification Margins, 74
2.5.3 Optimal Linear Boundary, 76
2.5.4 Parameters and Classification Boundaries of SVM, 78
2.6 The k-Nearest Neighbor Classifier (k-nn), 80
2.7 Final Remarks, 82
2.7.1 Simple or Complex Models?, 82
2.7.2 The Triangle Diagram, 83
2.7.3 Choosing a Base Classifier for Ensembles, 85
Appendix, 85
CONTENTS ix
References 327
Index 353
PREFACE
xv
xvi PREFACE
(b) because we are lazy and stupid and cannot be bothered to design and train one
single sophisticated classifier; and
(c) because democracy is so important to our society, it must be important to
classification.
Funnily enough, the real answer hinges on choice (b). Of course, it is not a matter
of laziness or stupidity, but the realization that a complex problem can be elegantly
solved using simple and manageable tools. Recall the invention of the error back-
propagation algorithm followed by the dramatic resurfacing of neural networks in
the 1980s. Neural networks were proved to be universal approximators with unlim-
ited flexibility. They could approximate any classification boundary in any number
of dimensions. This capability, however, comes at a price. Large structures with
a vast number of parameters have to be trained. The initial excitement cooled
down as it transpired that massive structures cannot be easily trained with suffi-
cient guarantees of good generalization performance. Until recently, a typical neural
network classifier contained one hidden layer with a dozen neurons, sacrificing the so
acclaimed flexibility but gaining credibility. Enter classifier ensembles! Ensembles
of simple neural networks are among the most versatile and successful ensemble
methods.
But the story does not end here. Recent studies have rekindled the excitement
of using massive neural networks drawing upon hardware advances such as parallel
computations using graphics processing units (GPU) [75]. The giant data sets neces-
sary for training such structures are generated by small distortions of the available set.
These conceptually different rival approaches to machine learning can be regarded
as divide-and-conquer and brute force, respectively. It seems that the jury is still out
about their relative merits. In this book we adopt the divide-and-conquer approach.
Writing the first edition of the book felt like the overwhelming task of bringing
structure and organization to a hoarder’s attic. The scenery has changed markedly
since then. The series of workshops on Multiple Classifier Systems (MCS), run
since 2000 by Fabio Roli and Josef Kittler [338], served as a beacon, inspiration,
and guidance for experienced and new researchers alike. Excellent surveys shaped
the field, among which are the works by Polikar [311], Brown [53], and Valentini
and Re [397]. Better still, four recent texts together present accessible, in-depth,
comprehensive, and exquisite coverage of the classifier ensemble area: Rokach [335],
Zhou [439], Schapire and Freund [351], and Seni and Elder [355]. This gives me the
comfort and luxury to be able to skim over topics which are discussed at length and
in-depth elsewhere, and pick ones which I believe deserve more exposure or which I
just find curious.
As in the first edition, I have no ambition to present an accurate snapshot of the
state of the art. Instead, I have chosen to explain and illustrate some methods and
algorithms, giving sufficient detail so that the reader can reproduce them in code.
PREFACE xvii
Although I venture an opinion based on general consensus and examples in the text,
this should not be regarded as a guide for preferring one method to another.
SOFTWARE
1 http://www.cs.waikato.ac.nz/ml/weka/
2 http://prtools.org/
3 http://perclass.com/index.php/html/
xviii PREFACE
0.2
A classifier? feature
combiner extractor?
0.1
0 x
0 2 4 6 8 10 classifier classifier classifier
Posterior probabilities
0.5
feature values
0 x (object description)
0 2 4 6 8 10
0.182
Harmonic mean
Ensemble error
0.181
Geometric mean
(Product)
0.18
Average
rule
0.179
–2 0 2 4
Level of optimism α
Individual Ensemble
4 κ -error bound
0.8
1
2 0.8 0.6
Stability index
0.6
Error
0 0.4
0.4
0.2
−2 0.2
0 0
−4 −1 0 1 0 20 40 60
−4 −2 0 2 4 kappa Number of features
7. Classifier selection 8. Diversity 9. Feature selection
chapter appendices. Some of the proofs and derivations were dropped altogether, for
example, the theory behind the magic of AdaBoost. Plenty of literature sources can
be consulted for the proofs and derivations left out.
The differences between the two editions reflect the fact that the classifier ensemble
research has made a giant leap; some methods and techniques discussed in the first
edition did not withstand the test of time, others were replaced with modern versions.
The dramatic expansion of some sub-areas forced me, unfortunately, to drop topics
such as cluster ensembles and stay away from topics such as classifier ensembles for:
adaptive (on-line) learning, learning in the presence of concept drift, semi-supervised
learning, active learning, handing imbalanced classes and missing values. Each of
these sub-areas will likely see a bespoke monograph in a not so distant future. I look
forward to that.
xx PREFACE
The book is suitable for postgraduate students and researchers in computing and
engineering, as well as practitioners with some technical background. The assumed
level of mathematics is minimal and includes a basic understanding of probabilities
and simple linear algebra. Beginner’s MATLAB programming knowledge would be
beneficial but is not essential.
Ludmila I. Kuncheva
Bangor, Gwynedd, UK
December 2013
ACKNOWLEDGEMENTS
I am most sincerely indebted to Gavin Brown, Juan Rodrı́guez, and Kami Kountcheva
for scrutinizing the manuscript and returning to me their invaluable comments, sug-
gestions, and corrections. Many heartfelt thanks go to my family and friends for their
constant support and encouragement. Last but not least, thank you, my reader, for
picking up this book.
Ludmila I. Kuncheva
Bangor, Gwynedd, UK
December 2013
xxi
1
FUNDAMENTALS OF PATTERN
RECOGNITION
A wealth of literature in the 1960s and 1970s laid the grounds for modern pattern
recognition [90,106,140,141,282,290,305,340,353,386]. Faced with the formidable
challenges of real-life problems, elegant theories still coexist with ad hoc ideas,
intuition, and guessing.
Pattern recognition is about assigning labels to objects. Objects are described by
features, also called attributes. A classic example is recognition of handwritten digits
for the purpose of automatic mail sorting. Figure 1.1 shows a small data sample. Each
15×15 image is one object. Its class label is the digit it represents, and the features
can be extracted from the binary matrix of pixels.
Combining Pattern Classifiers: Methods and Algorithms, Second Edition. Ludmila I. Kuncheva.
© 2014 John Wiley & Sons, Inc. Published 2014 by John Wiley & Sons, Inc.
1
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CHAPTER XX
war, and at other times, down to the death of Francis I in Italian states,
1547, the two countries enjoyed what was virtually no more and German
princes.
than a truce. Meanwhile, Charles was usually in conflict with
the popes, whose temporal dominions in central Italy were
threatened by the growing power of Spain and the empire in The outcome.
the Italian peninsula. Other states in Italy fought now on
Charles’ side, now against him, while the princes of Germany were an
equally variable quantity. England favored each side in turn, but offered
little effective aid to either. As affecting the history of religion these wars
gave Protestantism a chance to develop. Neither Charles nor Francis
disdained the aid of Protestant princes, and the former had little opportunity
to proceed against them on religious grounds. Francis even allied himself
with the Moslem power of Turkey. On the whole, Charles was the victor in
the wars, and could point to the occupation of Milan as a tangible evidence
of his success,—about the only territorial change of consequence as a result
of the many campaigns. Perhaps the most noteworthy fact as affecting the
history of Spain and Spanish America was the financial drain occasioned by
the fighting. Time and again lack of funds was mainly responsible for
defeats or failures to follow up a victory. Spain and the Americas had to
meet the bills, but, liberal as were their contributions, more were always
needed.
The wars with Turkey had a special significance because
of the ever impending peril from Moslem northern Africa. Wars with
The pirates of the Berber, or Barbary, Coast, as the lands in the Turks
northwestern Africa are often called, seemed to be more than and the
Moslems of
ever audacious in the early years of the reign of Charles. Not northern
only did they attack Spanish ships and even Spanish ports, but Africa.
they also made numerous incursions inland in the peninsula.
Aside from the loss in captives and in economic wealth that these
visitations represented, they served to remind the authorities of the Moslem
sympathies of Spanish Moriscos and of the ease with which a Moslem
invasion might be effected. Furthermore the conquests of Isabella and
Ximénez had created Castilian interests in northern Africa, of both a
political and an economic character, which were in need of defence against
the efforts of the tributary princes to free themselves by Turkish aid. The
situation was aggravated by the achievements of a renegade Greek
adventurer and pirate, known best by the sobriquet “Barbarossa.” This
daring corsair became so powerful that he was able to dethrone the king of
Algiers and set up his own brother in his stead. On the death of the latter at
the hands of the Spaniards in 1518, Barbarossa placed the kingdom of
Algiers under the protection of the sultan of Turkey, became himself an
admiral in the Turkish navy, and soon afterward conquered the kingdom of
Tunis, whence during many years he menaced the Spanish dominions in
Italy. Charles in person led an expedition in 1535 which was successful in
dethroning Barbarossa and in restoring the former king to the throne, but an
expedition of 1541, sent against Algiers, was a dismal failure. On yet
another frontier, that of Hungary, Spanish troops were called upon to meet
the Turks, and there they contributed to the checking of that people at a time
when their military power threatened Europe. The problem of northern
Africa, however, had been little affected by the efforts of Charles.
Meanwhile, the religious question in Germany had all
along been considered by Charles as one of his most Charles’
important problems. The first war with France prevented any failure to
stamp out
action on his part until 1529, since he needed the support of Protestantis
the Protestant princes. The movement therefore had time to m.
gather headway, and it was evident that Charles would meet
with determined opposition whenever he should decide to face the issue.
Various factors entered in to complicate the matter, such, for example, as
the fear on the part of many princes of the growing Hapsburg power and the
belief that Charles meant to make the imperial succession hereditary in his
family. A temporary adjustment of the religious situation was made by the
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