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RICHARD O. DUDA PETER E. HART Stanford Research Institute, Menlo Park, California
A WILEY-INTERSCIENCE PUBLICATION
JOHN WILEY & SONS New York Chichester Brisbane Toronto Singapore
CONTENTS
Part I PATTERN CLASSIFICATION
1
1 2 4 5 6 7 10 10 13 15 16 17 17 20 20 22 22 23 24 26 27 30 31 32 34
xi
1 INTRODUCTION
1.1 1.2 1.3 1.4 1.5 1.6 2 2.1 2.2 2.3 2.4 2.5 Machine Perception An Example The Classification Model The Descriptive Approach Summary of the Book by Chapters Bibliographical Remarks BAYES DECISION THEORY Introduction Bayes Decision TheoryThe Continuous Case Two-Category Classification Minimum-Error-Rate Classification Classifiers, Discriminant Functions and Decision Surfaces 2.5.1 The Multicategory Case 2.5.2 The Two-Category Case Error Probabilities and Integrals The Normal Density 2.7.1 The Univariate Normal Density 2.7.2 The Multivariate Normal Density Discriminant Functions for the Normal Density 2.8.1 Case 1: 2< = a 2 / 2.8.2 Case 2: L, = 2 2.8.3 Case 3: 2 , Arbitrary Bayesian Decision TheoryThe Discrete Case Independent Binary Features Compound Bayes Decision Theory and Context
2.6 2.7
2.8
xii
CONTENTS 35 36 39
44
44 45 45 47 48 49 50 51 52 52 55 55 57 59 62 66 66 67 69 70 73 76 80 85 85 85 88 88 90 91 91 95
4.1 Introduction 4.2 Density Estimation 4.3 Parzen Windows 4.3.1 General Discussion 4.3.2 Convergence of the Mean 4.3.3 Convergence of the Variance 4.3.4 Two Examples 4.4 A>Nearest Neighbor Estimation
= 4.5 Estimation of A Posteriori Probabilities 4.6 The Nearest-Neighbor Rule 4.6.1 General Considerations 4.6.2 Convergence of the Nearest-Neighbor 4.6.3 Error Rate for the Nearest-Neighbor Rule 4.6.4 Error Bounds 4.7 The fc-Nearest-Neighbor Rule 4.8 Approximations by Series Expansions 4.9 Approximations for the Binary Case 4.9.1 The Rademacher-Walsh Expansion 4.9.2 The Bahadur-Lazarsfeld Expansion 4.9.3 The Chow Expansion 4.10 Fisher's Linear Discriminant 4.11 Multiple Discriminant Analysis 4.12 Bibliographical and Historical Remarks Problems
CONTENTS
xiii 97 98 98 99 100 101 103 105 108 108 111 113 114 118 121 126
130
130 131 131 132 134 138 138 140 141 141 142 146 147 147 148 149 151 151 152 154 155 156
xiv
CONTENTS 159 159 161 163 163 166 166 167 168 169 172 174 174 176 177 179 186
5.9 The Ho-Kashyap Procedures 5.9.1 The Descent Procedure 5.9.2 Convergence Proof 5.9.3 Nonseparable Behavior 5.9.4 Some Related Procedures 5.10 Linear Programming Procedures 5.10.1 Linear Programming 5.10.2 The Linearly Separable Case 5.10.3 Minimizing the Perceptron Criterion Function 5.10.4 Remarks 5.11 The Method of Potential Functions 5.12 Multicategory Generalizations 5.12.1 Kesler's Construction 5.12.2 The Fixed-Increment Rule 5.12.3 Generalization for MSE Procedures 5.13 Bibliographical and Historical Remarks Problems
189
189 190 192 193 194 195 198 201 203 203 204 207 210 211 213 217 217 219 221 221
CONTENTS 6.8.3.2 The Trace Criterion 6.8.3.3 The Determinant Criterion 6.8.3.4 Invariant Criteria Iterative Optimization Hierarchical Clustering 6.10.1 Definitions 6.10.2 Agglomerative Hierarchical Clustering 6.10.2.1 The Nearest-Neighbor Algorithm 6.10.2.2 The Furthest-Neighbor Algorithm 6.10.2.3 Compromises 6.10.3 Stepwise-Optimal Hierarchical Clustering 6.10.4 Hierarchical Clustering and Induced Metrics Graph Theoretic Methods The Problem of Validity Low-Dimensional Representations and Multidimensional Scaling Clustering and Dimensionality Reduction Bibliographical and Historical Remarks Problems
xv 222 222 223 225 228 228 230 233 233 235 235 236 237 239 243 246 248 256
6.9 6.10
263
263 264 267 272 276 276 282 284 284 288 290 293 297
xvi
CONTENTS
298
298 302 305 308 318 322 325 327 327 328 328 332 335 337 339 341 342 345 348 352 356 362 367 372 377 379 379 380 382 386 392 392 393 394 396
9.1 Introduction 9.2 Line 1 Description 9.2.1 Minimum-Squared-Error Line Fitting 9.2.2 Eigenvector Line Fitting 9.2.3 Line Fitting by Clustering 9.2.4 Line Segmentation 9.2.5 Chain Encoding 9.3 Shape! Description 9.3.1 Topological Properties 9.3.2 Linear Properties 9.3.3 Metric Properties 9.3.4 Descriptions Based on Irregularities 9.3.5 The Skeleton of a Figure 9.3.6 Analytic Descriptions of Shape 9.3.7 Integral Geometric Descriptions 9.4 Bibliographical and Historical Remarks Problems 10 PERSPECTIVE TRANSFORMATIONS 10.1 10.2 10.3 10.4 10.5 Introduction Modelling Picture Taking The Perspective Transformation in Homogeneous Coordinates Perspective Transformations With Two Reference Frames Illustrative Applications 10.5.1 Camera Calibration 10.5.2 Object Location 10.5.3 Vertical Lines: Perspective Distortion 10.5.4 Horizontal Lines and Vanishing Points
CONTENTS 10.6 Stereoscopic Perception 10.7 Bibliographical and Historical Remarks Problems
11 PROJECTTVE INVARIANTS 11.1 11.2 11.3 11.4 11.5 11.6 11.7 Introduction The Cross Ratio Two-Dimensional Projective Coordinates The Inter-Lens Line An Orthogonal Projection Approximation Object Reconstruction Bibliographical and Historical Remarks Problems
425
425 426 426 434 436 441 442 449 456 462 465
467 472