1. National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, Beijing, China and School of Automation, Beijing Institute of Technology, Beijng, China
2. Bejing Key Laboratory of Multimedia and Intelligent Software Technology, College of Computer Science and Technology, Beijing University of Technology, Beijing, China
3. National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, Beijing, China
4. School of Automation, Beijing Institute of Technology, Beijng, China