1. College of Transport & Communications, Shanghai Maritime University, Shanghai, People’s Republic of China
2. Merchant Marine College, Shanghai Maritime University, Shanghai, People’s Republic of China
3. College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, People’s Republic of China
4. State Key Lab of CAD&CG, Zhejiang University, Hangzhou, People’s Republic of China
5. Intelligent Transportation Research Center, Zhejiang Lab, Hangzhou, People’s Republic of China
6. School of Computer and Information Engineering, Zhejiang Gongshang University, Hangzhou, People’s Republic of China