3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the dataset is one of the challenges that face 3D semantic scene labeling task. This leads to misclassifying for the non-dominant classes which suffer from two main problems: a) rare appearance in the dataset, and b) few sensor points reflected from one object of these classes. This paper proposes a Weighted Self-Incremental Transfer Learning as a generalized methodology that solves the imbalanced training dataset problems. It re-weights the components of the loss function computed from individual classes based on their frequencies in the training dataset, and applies Self-Incremental Transfer Learning by running the Neural Network model on non-dominant classes first, then dominant classes one-by-one are added. The experimental results introduce a new 3D point cloud semantic segmentation benchmark for KITTI dataset.
Learning from imbalanced datasets @cite_0 is an important topic, arising very often in practice in classification problems, that may lead to misclassify most of the data as the dominant class. Many approaches @cite_7 @cite_3 are developed across different levels solving learning from imbalanced datasets. Data-level approaches @cite_7 depend either on under-sampling technique for dominant classes or over-sampling technique for the non-dominant classes. Random Under-sampling @cite_13 , and Over-sampling techniques @cite_10 @cite_18 are non-heuristic method that aims to balance class distribution through the random elimination of majority class examples, and through the random replication of minority class examples @cite_22 by generating new synthetic data respectively. Cost sensitive Learning level approach @cite_7 @cite_3 encodes the penalty of misclassifying in terms of weights like weighted loss function. Ensemble approaches @cite_7 such as Boosting method @cite_14 aims to construct multiple models from the original data and then aggregate their predictions when classifying unknown samples. Focal Loss @cite_17 applies a modulating term to the cross entropy loss in order to focus learning on non-dominant fine-grained classes.
@cite_13 @cite_18 @cite_14 @cite_22 @cite_7 @cite_3 @cite_0 @cite_10 @cite_17
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Learning unbiased models on imbalanced datasets is a significant challenge. Rare classes tend to get a concentrated representation in the classification space which hampers the generalization of learned boundaries to new test examples. In this paper, we demonstrate that the Bayesian uncertainty estimates directly correlate with the rarity of classes and the difficulty level of individual samples. Subsequently, we present a novel framework for uncertainty based class imbalance learning that follows two key insights: First, classification boundaries should be extended further away from a more uncertain (rare) class to avoid overfitting and enhance its generalization. Second, each sample should be modeled as a multi-variate Gaussian distribution with a mean vector and a covariance matrix defined by the sample's uncertainty. The learned boundaries should respect not only the individual samples but also their distribution in the feature space. Our proposed approach efficiently utilizes sample and class uncertainty information to learn robust features and more generalizable classifiers. We systematically study the class imbalance problem and derive a novel loss formulation for max-margin learning based on Bayesian uncertainty measure. The proposed method shows significant performance improvements on six benchmark datasets for face verification, attribute prediction, digit object classification and skin lesion detection. Classification with imbalanced datasets supposes a new challenge for researches in the framework of machine learning. This problem appears when the number of patterns that represents one of the classes of the dataset (usually the concept of interest) is much lower than in the remaining classes. Thus, the learning model must be adapted to this situation, which is very common in real applications. In this paper, a dynamic over-sampling procedure is proposed for improving the classification of imbalanced datasets with more than two classes. This procedure is incorporated into a memetic algorithm (MA) that optimizes radial basis functions neural networks (RBFNNs). To handle class imbalance, the training data are resampled in two stages. In the first stage, an over-sampling procedure is applied to the minority class to balance in part the size of the classes. Then, the MA is run and the data are over-sampled in different generations of the evolution, generating new patterns of the minimum sensitivity class (the class with the worst accuracy for the best RBFNN of the population). The methodology proposed is tested using 13 imbalanced benchmark classification datasets from well-known machine learning problems and one complex problem of microbial growth. It is compared to other neural network methods specifically designed for handling imbalanced data. These methods include different over-sampling procedures in the preprocessing stage, a threshold-moving method where the output threshold is moved toward inexpensive classes and ensembles approaches combining the models obtained with these techniques. The results show that our proposal is able to improve the sensitivity in the generalization set and obtains both a high accuracy level and a good classification level for each class. Imbalanced learning problems contain an unequal distribution of data samples among different classes and pose a challenge to any classifier as it becomes hard to learn the minority class samples. Synthetic oversampling methods address this problem by generating the synthetic minority class samples to balance the distribution between the samples of the majority and minority classes. This paper identifies that most of the existing oversampling methods may generate the wrong synthetic minority samples in some scenarios and make learning tasks harder. To this end, a new method, called Majority Weighted Minority Oversampling TEchnique (MWMOTE), is presented for efficiently handling imbalanced learning problems. MWMOTE first identifies the hard-to-learn informative minority class samples and assigns them weights according to their euclidean distance from the nearest majority class samples. It then generates the synthetic samples from the weighted informative minority class samples using a clustering approach. This is done in such a way that all the generated samples lie inside some minority class cluster. MWMOTE has been evaluated extensively on four artificial and 20 real-world data sets. The simulation results show that our method is better than or comparable with some other existing methods in terms of various assessment metrics, such as geometric mean (G-mean) and area under the receiver operating curve (ROC), usually known as area under curve (AUC). The class imbalance problems have been reported to severely hinder classification performance of many standard learning algorithms, and have attracted a great deal of attention from researchers of different fields. Therefore, a number of methods, such as sampling methods, cost-sensitive learning methods, and bagging and boosting based ensemble methods, have been proposed to solve these problems. However, these conventional class imbalance handling methods might suffer from the loss of potentially useful information, unexpected mistakes or increasing the likelihood of overfitting because they may alter the original data distribution. Thus we propose a novel ensemble method, which firstly converts an imbalanced data set into multiple balanced ones and then builds a number of classifiers on these multiple data with a specific classification algorithm. Finally, the classification results of these classifiers for new data are combined by a specific ensemble rule. In the empirical study, different class imbalance data handling methods including three conventional sampling methods, one cost-sensitive learning method, six Bagging and Boosting based ensemble methods, our previous method EM1vs1 and two fuzzy-rule based classification methods were compared with our method. The experimental results on 46 imbalanced data sets show that our proposed method is usually superior to the conventional imbalance data handling methods when solving the highly imbalanced problems. HighlightsWe propose a novel ensemble method to handle imbalanced binary data.The method turns imbalanced data learning into multiple balanced data learning.Our method usually performs better than the conventional methods on imbalanced data. Learning from imbalanced data sets, where the number of examples of one (majority) class is much higher than the others, presents an important challenge to the machine learning community. Traditional machine learning algorithms may be biased towards the majority class, thus producing poor predictive accuracy over the minority class. In this paper, we describe a new approach that combines boosting, an ensemble-based learning algorithm, with data generation to improve the predictive power of classifiers against imbalanced data sets consisting of two classes. In the DataBoost-IM method, hard examples from both the majority and minority classes are identified during execution of the boosting algorithm. Subsequently, the hard examples are used to separately generate synthetic examples for the majority and minority classes. The synthetic data are then added to the original training set, and the class distribution and the total weights of the different classes in the new training set are rebalanced. The DataBoost-IM method was evaluated, in terms of the F-measures, G-mean and overall accuracy, against seventeen highly and moderately imbalanced data sets using decision trees as base classifiers. Our results are promising and show that the DataBoost-IM method compares well in comparison with a base classifier, a standard benchmarking boosting algorithm and three advanced boosting-based algorithms for imbalanced data set. Results indicate that our approach does not sacrifice one class in favor of the other, but produces high predictions against both minority and majority classes. Class imbalance is a common problem in the case of real-world object detection and classification tasks. Data of some classes are abundant, making them an overrepresented majority, and data of other classes are scarce, making them an underrepresented minority. This imbalance makes it challenging for a classifier to appropriately learn the discriminating boundaries of the majority and minority classes. In this paper, we propose a cost-sensitive (CoSen) deep neural network, which can automatically learn robust feature representations for both the majority and minority classes. During training, our learning procedure jointly optimizes the class-dependent costs and the neural network parameters. The proposed approach is applicable to both binary and multiclass problems without any modification. Moreover, as opposed to data-level approaches, we do not alter the original data distribution, which results in a lower computational cost during the training process. We report the results of our experiments on six major image classification data sets and show that the proposed approach significantly outperforms the baseline algorithms. Comparisons with popular data sampling techniques and CoSen classifiers demonstrate the superior performance of our proposed method. Abstract As one of the most challenging and attractive problems in the pattern recognition and machine intelligence field, imbalanced classification has received a large amount of research attention for many years. In binary classification tasks, one class usually tends to be underrepresented when it consists of far fewer patterns than the other class, which results in undesirable classification results, especially for the minority class. Several techniques, including resampling, boosting and cost-sensitive methods have been proposed to alleviate this problem. Recently, some ensemble methods that focus on combining individual techniques to obtain better performance have been observed to present better classification performance on the minority class. In this paper, we propose a novel ensemble framework called Adaptive Ensemble Undersampling-Boost for imbalanced learning. Our proposal combines the Ensemble of Undersampling (EUS) technique, Real Adaboost, cost-sensitive weight modification, and adaptive boundary decision strategy to build a hybrid algorithm. The superiority of our method over other state-of-the-art ensemble methods is demonstrated by experiments on 18 real world data sets with various data distributions and different imbalance ratios. Given the experimental results and further analysis, our proposal is proven to be a promising alternative that can be applied to various imbalanced classification domains. We study binary classification in the presence of class-conditional random noise, where the learner gets to see labels that are flipped independently with some probability, and where the flip probability depends on the class. Our goal is to devise learning algorithms that are efficient and statistically consistent with respect to commonly used utility measures. In particular, we look at a family of measures motivated by their application in domains where cost-sensitive learning is necessary (for example, when there is class imbalance). In contrast to most of the existing literature on consistent classification that are limited to the classical 0-1 loss, our analysis includes more general utility measures such as the AM measure (arithmetic mean of True Positive Rate and True Negative Rate). For this problem of cost-sensitive learning under class-conditional random noise, we develop two approaches that are based on suitably modifying surrogate losses. First, we provide a simple unbiased estimator of any loss, and obtain performance bounds for empirical utility maximization in the presence of i.i.d. data with noisy labels. If the loss function satis_es a simple symmetry condition, we show that using unbiased estimator leads to an efficient algorithm for empirical maximization. Second, by leveraging a reduction of risk minimization under noisy labels to classification with weighted 0-1 loss, we suggest the use of a simple weighted surrogate loss, for which we are able to obtain strong utility bounds. This approach implies that methods already used in practice, such as biased SVM and weighted logistic regression, are provably noise-tolerant. For two practically important measures in our family, we show that the proposed methods are competitive with respect to recently proposed methods for dealing with label noise in several benchmark data sets. Class imbalance is a problem that is common to many application domains. When examples of one class in a training data set vastly outnumber examples of the other class(es), traditional data mining algorithms tend to create suboptimal classification models. Several techniques have been used to alleviate the problem of class imbalance, including data sampling and boosting. In this paper, we present a new hybrid sampling boosting algorithm, called RUSBoost, for learning from skewed training data. This algorithm provides a simpler and faster alternative to SMOTEBoost, which is another algorithm that combines boosting and data sampling. This paper evaluates the performances of RUSBoost and SMOTEBoost, as well as their individual components (random undersampling, synthetic minority oversampling technique, and AdaBoost). We conduct experiments using 15 data sets from various application domains, four base learners, and four evaluation metrics. RUSBoost and SMOTEBoost both outperform the other procedures, and RUSBoost performs comparably to (and often better than) SMOTEBoost while being a simpler and faster technique. Given these experimental results, we highly recommend RUSBoost as an attractive alternative for improving the classification performance of learners built using imbalanced data.