Cluster Analysis: Basic Concepts and Algorithms
What is Cluster Analysis?
Finding groups of objects such that the objects in a group will be similar (or related) to one another and different from (or unrelated to) the objects in other groups
Intra-cluster distances are minimized Inter-cluster distances are maximized
Applications of Cluster Analysis
Understanding
Group related documents for browsing, group genes and proteins that have similar functionality, or group stocks with similar price fluctuations
Discovered Clusters Industry Group
1 2 3 4
Applied-Matl-DOWN,Bay-Network-Down,3-COM-DOWN, Cabletron-Sys-DOWN,CISCO-DOWN,HP-DOWN, DSC-Comm-DOWN,INTEL-DOWN,LSI-Logic-DOWN, Micron-Tech-DOWN,Texas-Inst-Down,Tellabs-Inc-Down, Natl-Semiconduct-DOWN,Oracl-DOWN,SGI-DOWN, Sun-DOWN Apple-Comp-DOWN,Autodesk-DOWN,DEC-DOWN, ADV-Micro-Device-DOWN,Andrew-Corp-DOWN, Computer-Assoc-DOWN,Circuit-City-DOWN, Compaq-DOWN, EMC-Corp-DOWN, Gen-Inst-DOWN, Motorola-DOWN,Microsoft-DOWN,Scientific-Atl-DOWN Fannie-Mae-DOWN,Fed-Home-Loan-DOWN, MBNA-Corp-DOWN,Morgan-Stanley-DOWN Baker-Hughes-UP,Dresser-Inds-UP,Halliburton-HLD-UP, Louisiana-Land-UP,Phillips-Petro-UP,Unocal-UP, Schlumberger-UP
Technology1-DOWN
Technology2-DOWN
Financial-DOWN Oil-UP
Summarization
Reduce the size of large data sets
Clustering precipitation in Australia
Notion of a Cluster can be Ambiguous
How many clusters?
Six Clusters
Two Clusters
Four Clusters
Types of Clusterings
A clustering is a set of clusters Important distinction between hierarchical and partitional sets of clusters
Partitional Clustering
A division data objects into non-overlapping subsets (clusters) such that each data object is in exactly one subset
Hierarchical clustering
A set of nested clusters organized as a hierarchical tree
Partitional Clustering
Original Points
A Partitional Clustering
Hierarchical Clustering
p1 p3 p2 p4
p1 p2
Traditional Hierarchical Clustering
p3 p4
Traditional Dendrogram
p1 p3 p2 p4
p1 p2
Non-traditional Hierarchical Clustering
p3 p4
Non-traditional Dendrogram
Other Distinctions Between Sets of Clusters
Exclusive versus non-exclusive
In non-exclusive clusterings, points may belong to multiple clusters. Can represent multiple classes or border points
Fuzzy versus non-fuzzy
In fuzzy clustering, a point belongs to every cluster with some weight between 0 and 1 Weights must sum to 1 Probabilistic clustering has similar characteristics
Partial versus complete
In some cases, we only want to cluster some of the data
Heterogeneous versus homogeneous
Cluster of widely different sizes, shapes, and densities
Clustering Algorithms
K-means and its variants Hierarchical clustering
Density-based clustering
K-means Clustering
Partitional clustering approach
Each cluster is associated with a centroid (center point) Each point is assigned to the cluster with the closest centroid
Number of clusters, K, must be specified The basic algorithm is very simple
K-means Clustering Details
Initial centroids are often chosen randomly.
Clusters produced vary from one run to another.
The centroid is (typically) the mean of the points in the cluster. Closeness is measured by Euclidean distance, cosine similarity, correlation, etc.
K-means Clustering Details
K-means will converge for common similarity measures mentioned above. Most of the convergence happens in the first few iterations.
Often the stopping condition is changed to Until relatively few points change clusters n = number of points, K = number of clusters, I = number of iterations, d = number of attributes
Complexity is O( n * K * I * d )
Evaluating K-means Clusters
Most common measure is Sum of Squared Error (SSE)
For each point, the error is the distance to the nearest cluster To get SSE, we square these errors and sum them.
SSE dist 2 (mi , x)
i 1 xCi K
x is a data point in cluster Ci and mi is the representative point for cluster Ci
can show that mi corresponds to the center (mean) of the cluster
Given two clusters, we can choose the one with the smallest error One easy way to reduce SSE is to increase K, the number of clusters
A good clustering with smaller K can have a lower SSE than a poor clustering with higher K
Issues and Limitations for K-means
How to choose initial centers? How to choose K? How to handle Outliers? Clusters different in
Shape Density Size
Two different K-means Clusterings
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Original Points
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Optimal Clustering
Sub-optimal Clustering
Importance of Choosing Initial Centroids
Iteration 6 1 2 3 4 5
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Importance of Choosing Initial Centroids
Iteration 1
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Iteration 2
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Iteration 4
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Iteration 5
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Iteration 6
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Importance of Choosing Initial Centroids
Iteration 5 1 2 3 4
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Importance of Choosing Initial Centroids
Iteration 1
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Iteration 2
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Iteration 3
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Problems with Selecting Initial Points
If there are K real clusters then the chance of selecting one centroid from each cluster is small.
Chance is relatively small when K is large If clusters are the same size, n, then
For example, if K = 10, then probability = 10!/1010 = 0.00036 Sometimes the initial centroids will readjust themselves in right way, and sometimes they dont Consider an example of five pairs of clusters
Solutions to Initial Centroids Problem
Multiple runs
Helps, but probability is not on your side
Sample and use hierarchical clustering to determine initial centroids Select more than k initial centroids and then select among these initial centroids
Select most widely separated
Postprocessing Bisecting K-means
Not as susceptible to initialization issues
Hierarchical Clustering
Produces a set of nested clusters organized as a hierarchical tree Can be visualized as a dendrogram
A tree like diagram that records the sequences of merges or splits
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Strengths of Hierarchical Clustering
Do not have to assume any particular number of clusters
Any desired number of clusters can be obtained by cutting the dendogram at the proper level
They may correspond to meaningful taxonomies
Example in biological sciences (e.g., animal kingdom, phylogeny reconstruction, )
Hierarchical Clustering
Two main types of hierarchical clustering
Agglomerative:
Start with the points as individual clusters At each step, merge the closest pair of clusters until only one cluster (or k clusters) left
Divisive:
Start with one, all-inclusive cluster At each step, split a cluster until each cluster contains a point (or there are k clusters)
Traditional hierarchical algorithms use a similarity or distance matrix
Merge or split one cluster at a time
Agglomerative Clustering Algorithm
More popular hierarchical clustering technique
Basic algorithm is straightforward
1. 2. 3. 4. 5. 6. Compute the proximity matrix Let each data point be a cluster Repeat Merge the two closest clusters Update the proximity matrix Until only a single cluster remains
Key operation is the computation of the proximity of two clusters
Different approaches to defining the distance between clusters distinguish the different algorithms
Starting Situation
Start with clusters of individual points and a p1 p2 p3 p4 p5 proximity matrix p1
p2 p3
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Proximity Matrix
Intermediate Situation
After some merging steps, we have some clusters
C1 C1 C2 C3 C4 C4 C5 C1 C3 C2 C3 C4 C5
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Proximity Matrix
p9 p10 p11 p12
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Intermediate Situation
We want to merge the two closest clusters (C2 and C5) and update the proximity matrix.
C1 C1 C3 C4 C2 C3 C4 C5 C1 C2 C3 C4 C5
...
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C2
Proximity Matrix
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C5
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After Merging
The question is How do we update the proximity matrix?
C1 C1 C3 C4 C2 U C5 ? ? ? ? C2 U C5 ? C3 C4
C3
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?
C2 U C5
...
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Proximity Matrix
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How to Define Inter-Cluster Similarity
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Similarity?
p1 p2 p3
p4
MIN MAX Group Average Distance Between Centroids Other methods driven by an objective function
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Proximity Matrix
Wards Method uses squared error
How to Define Inter-Cluster Similarity
p1 p1 p2 p3 p4 p2 p3 p4 p5
...
MIN MAX Group Average Distance Between Centroids Other methods driven by an objective function
p5
. . .
Proximity Matrix
Wards Method uses squared error
How to Define Inter-Cluster Similarity
p1 p1 p2 p3 p4 p2 p3 p4 p5
...
MIN MAX Group Average Distance Between Centroids Other methods driven by an objective function
p5
. . .
Proximity Matrix
Wards Method uses squared error
How to Define Inter-Cluster Similarity
p1 p1 p2 p3 p2 p3 p4 p5
...
p4
MIN MAX Group Average Distance Between Centroids Other methods driven by an objective function
p5
. .
Proximity Matrix
Wards Method uses squared error
How to Define Inter-Cluster Similarity
p1 p1 p2 p3 p4 p2 p3 p4 p5
...
MIN MAX Group Average Distance Between Centroids Other methods driven by an objective function
p5
. . .
Proximity Matrix
Wards Method uses squared error
Cluster Similarity: MIN or Single Link
Similarity of two clusters is based on the two most similar (closest) points in the different clusters
Determined by one pair of points, i.e., by one link in the proximity graph.
I1 I2 I3 I4 I5 I1 1.00 0.90 0.10 0.65 0.20 I2 0.90 1.00 0.70 0.60 0.50 I3 0.10 0.70 1.00 0.40 0.30 I4 0.65 0.60 0.40 1.00 0.80 I5 0.20 0.50 0.30 0.80 1.00
Hierarchical Clustering: MIN
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Nested Clusters
Dendrogram
Strength of MIN
Original Points
Two Clusters
Can handle non-elliptical shapes
Limitations of MIN
Original Points
Two Clusters
Sensitive to noise and outliers
Cluster Similarity: MAX or Complete Linkage
Similarity of two clusters is based on the two least similar (most distant) points in the different clusters
Determined by all pairs of points in the two clusters I1 I2 I3 I4 I5
I1 I2 I3 I4 I5 1.00 0.90 0.10 0.65 0.20 0.90 1.00 0.70 0.60 0.50 0.10 0.70 1.00 0.40 0.30 0.65 0.60 0.40 1.00 0.80 0.20 0.50 0.30 0.80 1.00
Hierarchical Clustering: MAX
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0.4 0.35 0.3 0.25 0.2 0.15 0.1 0.05 0 3 6 4 1 2 5
Nested Clusters
Dendrogram
Strength of MAX
Original Points
Two Clusters
Less susceptible to noise and outliers
Limitations of MAX
Original Points Tends to break large clusters
Two Clusters
Biased towards globular clusters
Cluster Similarity: Group Average
Proximity of two clusters is the average of pairwise proximity between points in the two clusters.
proximity(Clusteri , Clusterj )
piClusteri p jCluster j
proximity(p , p )
i j
|Clusteri ||Clusterj |
Need to use average connectivity for scalability since total proximity favors large clusters
I1 I2 I3 I4 I5
I1 1.00 0.90 0.10 0.65 0.20
I2 0.90 1.00 0.70 0.60 0.50
I3 0.10 0.70 1.00 0.40 0.30
I4 0.65 0.60 0.40 1.00 0.80
I5 0.20 0.50 0.30 0.80 1.00
Hierarchical Clustering: Group Average
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Nested Clusters
Dendrogram
Hierarchical Clustering: Group Average
Compromise between Single and Complete Link Strengths
Less susceptible to noise and outliers
Limitations
Biased towards globular clusters
Cluster Similarity: Wards Method
Similarity of two clusters is based on the increase in squared error when two clusters are merged
Similar to group average if distance between points is distance squared
Less susceptible to noise and outliers
Biased towards globular clusters
Hierarchical analogue of K-means
Can be used to initialize K-means
Hierarchical Clustering: Comparison
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3 5 2 4 4 2 3 1 6 3 4 5 MIN MAX 5 2 2 3 1 6 4 1 5
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5 Wards Method 6 Group Average
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Hierarchical Clustering: Time and Space requirements
O(N2) space since it uses the proximity matrix.
N is the number of points.
O(N3) time in many cases
There are N steps and at each step the size, N2, proximity matrix must be updated and searched Complexity can be reduced to O(N2 log(N) ) time for some approaches
Hierarchical Clustering: Problems and Limitations
Once a decision is made to combine two clusters, it cannot be undone No objective function is directly minimized
Different schemes have problems with one or more of the following:
Sensitivity to noise and outliers Difficulty handling different sized clusters and convex shapes Breaking large clusters
MST: Divisive Hierarchical Clustering
Build MST (Minimum Spanning Tree)
Start with a tree that consists of any point In successive steps, look for the closest pair of points (p, q) such that one point (p) is in the current tree but the other (q) is not Add q to the tree and put an edge between p and q
MST: Divisive Hierarchical Clustering
Use MST for constructing hierarchy of clusters
DBSCAN
DBSCAN is a density-based algorithm.
Density = number of points within a specified radius (Eps)
A point is a core point if it has more than a specified number of points (MinPts) within Eps
These are points that are at the interior of a cluster
A border point has fewer than MinPts within Eps, but is in the neighborhood of a core point A noise point is any point that is not a core point or a border point.
DBSCAN: Core, Border, and Noise Points
Density Reachable
(Directly) density reachable
A point x is directly density reachable from another point y, if x N(y) and y is a core point A point x is density reachable from y, if there exists a chain of points, x=x0,x1,x2,xl=y, such that xi is directly density reachable from xi-1
Density Connected
Two points x and y are density connected if there exists a core point z, such that both x and y are density reachable from z
DBSCAN: Core, Border and Noise Points
Original Points
Point types: core, border and noise Eps = 10, MinPts = 4
When DBSCAN Works Well
Original Points
Clusters
Resistant to Noise Can handle clusters of different shapes and sizes
When DBSCAN Does NOT Work Well
(MinPts=4, Eps=9.75).
Original Points
Varying densities High-dimensional data
(MinPts=4, Eps=9.92)
DBSCAN: Determining EPS and MinPts
Idea is that for points in a cluster, their kth nearest neighbors are at roughly the same distance Noise points have the kth nearest neighbor at farther distance So, plot sorted distance of every point to its kth nearest neighbor
