1. School of Automation; Huazhong University of Science and Technology; Wuhan 430074 China
2. Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China; Wuhan 430074 China
3. Texas A & M University at Qatar; Doha 5825 Qatar
4. School of Science, Information Technology and Engineering; University of Ballarat; Mt Helen, VIC 3350 Australia