1. Beijing Municipal Engineering Research, Beijing, China
2. Department of Computer Science, Georgia State University, Atlanta, 30303 GA, USA
3. Roadway Smart (Beijing) Technology Co., Ltd., Beijing, China
4. Beijing Capital Road Development Group Co., LTD., Beijing, China
5. Beijing Sutong Technology Co., Ltd., Beijing, China
6. Department of Multimedia Engineering, Dongguk University-Seoul, Seoul 04620, Republic of Korea
7. School of Information Science and Technology, North China University of Technology, Beijing 100144, China