A Road Following Approach Using Artificial Neural Networks Combinations

Navigation is a broad topic that has been receiving considerable attention from the mobile robotic community over the years. In order to execute autonomous driving in outdoor urban environments it is necessary to identify parts of the terrain that can be traversed and parts that should be avoided. This paper describes an analyses of terrain identification based on different visual information using a MLP artificial neural network and combining responses of many classifiers. Experimental tests using a vehicle and a video camera have been conducted in real scenarios to evaluate the proposed approach.

A Survey on Graphical Methods for Classification Predictive Performance Evaluation

Predictive performance evaluation is a fundamental issue in design, development, and deployment of classification systems. As predictive performance evaluation is a multidimensional problem, single scalar summaries such as error rate, although quite convenient due to its simplicity, can seldom evaluate all the aspects that a complete and reliable evaluation must consider. Due to this, various graphical performance evaluation methods are increasingly drawing the attention of machine learning, data mining, and pattern recognition communities. The main advantage of these types of methods resides in their ability to depict the trade-offs between evaluation aspects in a multidimensional space rather than reducing these aspects to an arbitrarily chosen (and often biased) single scalar measure. Furthermore, to appropriately select a suitable graphical method for a given task, it is crucial to identify its strengths and weaknesses. This paper surveys various graphical methods often used for predictive performance evaluation. By presenting these methods in the same framework, we hope this paper may shed some light on deciding which methods are more suitable to use in different situations.

Efficiency issues of evolutionary k-means

One of the top ten most influential data mining algorithms, k-means, is known for being simple and scalable. However, it is sensitive to initialization of prototypes and requires that the number of clusters be specified in advance. This paper shows that evolutionary techniques conceived to guide the application of k-means can be more computationally efficient than systematic (i.e., repetitive) approaches that try to get around the above-mentioned drawbacks by repeatedly running the algorithm from different configurations for the number of clusters and initial positions of prototypes. To do so, a modified version of a (k-means based) fast evolutionary algorithm for clustering is employed. Theoretical complexity analyses for the systematic and evolutionary algorithms under interest are provided. Computational experiments and statistical analyses of the results are presented for artificial and text mining data sets. (C) 2010 Elsevier B.V. All rights reserved.

Bayesian network classifiers: Beyond classification accuracy

This work proposes and discusses an approach for inducing Bayesian classifiers aimed at balancing the tradeoff between the precise probability estimates produced by time consuming unrestricted Bayesian networks and the computational efficiency of Naive Bayes (NB) classifiers. The proposed approach is based on the fundamental principles of the Heuristic Search Bayesian network learning. The Markov Blanket concept, as well as a proposed ""approximate Markov Blanket"" are used to reduce the number of nodes that form the Bayesian network to be induced from data. Consequently, the usually high computational cost of the heuristic search learning algorithms can be lessened, while Bayesian network structures better than NB can be achieved. The resulting algorithms, called DMBC (Dynamic Markov Blanket Classifier) and A-DMBC (Approximate DMBC), are empirically assessed in twelve domains that illustrate scenarios of particular interest. The obtained results are compared with NB and Tree Augmented Network (TAN) classifiers, and confinn that both proposed algorithms can provide good classification accuracies and better probability estimates than NB and TAN, while being more computationally efficient than the widely used K2 Algorithm.

Selecting salient objects in real scenes: An oscillatory correlation model

Attention is a critical mechanism for visual scene analysis. By means of attention, it is possible to break down the analysis of a complex scene to the analysis of its parts through a selection process. Empirical studies demonstrate that attentional selection is conducted on visual objects as a whole. We present a neurocomputational model of object-based selection in the framework of oscillatory correlation. By segmenting an input scene and integrating the segments with their conspicuity obtained from a saliency map, the model selects salient objects rather than salient locations. The proposed system is composed of three modules: a saliency map providing saliency values of image locations, image segmentation for breaking the input scene into a set of objects, and object selection which allows one of the objects of the scene to be selected at a time. This object selection system has been applied to real gray-level and color images and the simulation results show the effectiveness of the system. (C) 2010 Elsevier Ltd. All rights reserved.

Partitions selection strategy for set of clustering solutions

Clustering is a difficult task: there is no single cluster definition and the data can have more than one underlying structure. Pareto-based multi-objective genetic algorithms (e.g., MOCK Multi-Objective Clustering with automatic K-determination and MOCLE-Multi-Objective Clustering Ensemble) were proposed to tackle these problems. However, the output of such algorithms can often contains a high number of partitions, becoming difficult for an expert to manually analyze all of them. In order to deal with this problem, we present two selection strategies, which are based on the corrected Rand, to choose a subset of solutions. To test them, they are applied to the set of solutions produced by MOCK and MOCLE in the context of several datasets. The study was also extended to select a reduced set of partitions from the initial population of MOCLE. These analysis show that both versions of selection strategy proposed are very effective. They can significantly reduce the number of solutions and, at the same time, keep the quality and the diversity of the partitions in the original set of solutions. (C) 2010 Elsevier B.V. All rights reserved.

Building binary-tree-based multiclass classifiers using separability measures

Various popular machine learning techniques, like support vector machines, are originally conceived for the solution of two-class (binary) classification problems. However, a large number of real problems present more than two classes. A common approach to generalize binary learning techniques to solve problems with more than two classes, also known as multiclass classification problems, consists of hierarchically decomposing the multiclass problem into multiple binary sub-problems, whose outputs are combined to define the predicted class. This strategy results in a tree of binary classifiers, where each internal node corresponds to a binary classifier distinguishing two groups of classes and the leaf nodes correspond to the problem classes. This paper investigates how measures of the separability between classes can be employed in the construction of binary-tree-based multiclass classifiers, adapting the decompositions performed to each particular multiclass problem. (C) 2010 Elsevier B.V. All rights reserved.

Generalized external indexes for comparing data partitions with overlapping categories

There is a family of well-known external clustering validity indexes to measure the degree of compatibility or similarity between two hard partitions of a given data set, including partitions with different numbers of categories. A unified, fully equivalent set-theoretic formulation for an important class of such indexes was derived and extended to the fuzzy domain in a previous work by the author [Campello, R.J.G.B., 2007. A fuzzy extension of the Rand index and other related indexes for clustering and classification assessment. Pattern Recognition Lett., 28, 833-841]. However, the proposed fuzzy set-theoretic formulation is not valid as a general approach for comparing two fuzzy partitions of data. Instead, it is an approach for comparing a fuzzy partition against a hard referential partition of the data into mutually disjoint categories. In this paper, generalized external indexes for comparing two data partitions with overlapping categories are introduced. These indexes can be used as general measures for comparing two partitions of the same data set into overlapping categories. An important issue that is seldom touched in the literature is also addressed in the paper, namely, how to compare two partitions of different subsamples of data. A number of pedagogical examples and three simulation experiments are presented and analyzed in details. A review of recent related work compiled from the literature is also provided. (c) 2010 Elsevier B.V. All rights reserved.

OntoMap: an ontology-based architecture to perform the semantic mapping between an interlingua and software components

This paper is about the use of natural language to communicate with computers. Most researches that have pursued this goal consider only requests expressed in English. A way to facilitate the use of several languages in natural language systems is by using an interlingua. An interlingua is an intermediary representation for natural language information that can be processed by machines. We propose to convert natural language requests into an interlingua [universal networking language (UNL)] and to execute these requests using software components. In order to achieve this goal, we propose OntoMap, an ontology-based architecture to perform the semantic mapping between UNL sentences and software components. OntoMap also performs component search and retrieval based on semantic information formalized in ontologies and rules.

Multi-objective clustering ensemble for gene expression data analysis

In this paper, we present an algorithm for cluster analysis that integrates aspects from cluster ensemble and multi-objective clustering. The algorithm is based on a Pareto-based multi-objective genetic algorithm, with a special crossover operator, which uses clustering validation measures as objective functions. The algorithm proposed can deal with data sets presenting different types of clusters, without the need of expertise in cluster analysis. its result is a concise set of partitions representing alternative trade-offs among the objective functions. We compare the results obtained with our algorithm, in the context of gene expression data sets, to those achieved with multi-objective Clustering with automatic K-determination (MOCK). the algorithm most closely related to ours. (C) 2009 Elsevier B.V. All rights reserved.

An investigation into feature construction to assist word sense disambiguation

Identifying the correct sense of a word in context is crucial for many tasks in natural language processing (machine translation is an example). State-of-the art methods for Word Sense Disambiguation (WSD) build models using hand-crafted features that usually capturing shallow linguistic information. Complex background knowledge, such as semantic relationships, are typically either not used, or used in specialised manner, due to the limitations of the feature-based modelling techniques used. On the other hand, empirical results from the use of Inductive Logic Programming (ILP) systems have repeatedly shown that they can use diverse sources of background knowledge when constructing models. In this paper, we investigate whether this ability of ILP systems could be used to improve the predictive accuracy of models for WSD. Specifically, we examine the use of a general-purpose ILP system as a method to construct a set of features using semantic, syntactic and lexical information. This feature-set is then used by a common modelling technique in the field (a support vector machine) to construct a classifier for predicting the sense of a word. In our investigation we examine one-shot and incremental approaches to feature-set construction applied to monolingual and bilingual WSD tasks. The monolingual tasks use 32 verbs and 85 verbs and nouns (in English) from the SENSEVAL-3 and SemEval-2007 benchmarks; while the bilingual WSD task consists of 7 highly ambiguous verbs in translating from English to Portuguese. The results are encouraging: the ILP-assisted models show substantial improvements over those that simply use shallow features. In addition, incremental feature-set construction appears to identify smaller and better sets of features. Taken together, the results suggest that the use of ILP with diverse sources of background knowledge provide a way for making substantial progress in the field of WSD.

On the efficiency of evolutionary fuzzy clustering

This paper tackles the problem of showing that evolutionary algorithms for fuzzy clustering can be more efficient than systematic (i.e. repetitive) approaches when the number of clusters in a data set is unknown. To do so, a fuzzy version of an Evolutionary Algorithm for Clustering (EAC) is introduced. A fuzzy cluster validity criterion and a fuzzy local search algorithm are used instead of their hard counterparts employed by EAC. Theoretical complexity analyses for both the systematic and evolutionary algorithms under interest are provided. Examples with computational experiments and statistical analyses are also presented.

Generating Segmented Quality Meshes from Images

Techniques devoted to generating triangular meshes from intensity images either take as input a segmented image or generate a mesh without distinguishing individual structures contained in the image. These facts may cause difficulties in using such techniques in some applications, such as numerical simulations. In this work we reformulate a previously developed technique for mesh generation from intensity images called Imesh. This reformulation makes Imesh more versatile due to an unified framework that allows an easy change of refinement metric, rendering it effective for constructing meshes for applications with varied requirements, such as numerical simulation and image modeling. Furthermore, a deeper study about the point insertion problem and the development of geometrical criterion for segmentation is also reported in this paper. Meshes with theoretical guarantee of quality can also be obtained for each individual image structure as a post-processing step, a characteristic not usually found in other methods. The tests demonstrate the flexibility and the effectiveness of the approach.

On the influence of imputation in classification: practical issues

The substitution of missing values, also called imputation, is an important data preparation task for many domains. Ideally, the substitution of missing values should not insert biases into the dataset. This aspect has been usually assessed by some measures of the prediction capability of imputation methods. Such measures assume the simulation of missing entries for some attributes whose values are actually known. These artificially missing values are imputed and then compared with the original values. Although this evaluation is useful, it does not allow the influence of imputed values in the ultimate modelling task (e.g. in classification) to be inferred. We argue that imputation cannot be properly evaluated apart from the modelling task. Thus, alternative approaches are needed. This article elaborates on the influence of imputed values in classification. In particular, a practical procedure for estimating the inserted bias is described. As an additional contribution, we have used such a procedure to empirically illustrate the performance of three imputation methods (majority, naive Bayes and Bayesian networks) in three datasets. Three classifiers (decision tree, naive Bayes and nearest neighbours) have been used as modelling tools in our experiments. The achieved results illustrate a variety of situations that can take place in the data preparation practice.

Quality indices for (practical) clustering evaluation

Clustering quality or validation indices allow the evaluation of the quality of clustering in order to support the selection of a specific partition or clustering structure in its natural unsupervised environment, where the real solution is unknown or not available. In this paper, we investigate the use of quality indices mostly based on the concepts of clusters` compactness and separation, for the evaluation of clustering results (partitions in particular). This work intends to offer a general perspective regarding the appropriate use of quality indices for the purpose of clustering evaluation. After presenting some commonly used indices, as well as indices recently proposed in the literature, key issues regarding the practical use of quality indices are addressed. A general methodological approach is presented which considers the identification of appropriate indices thresholds. This general approach is compared with the simple use of quality indices for evaluating a clustering solution.