1. Department of Imaging Sciences, Graduate School of Science and Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan
2. Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi 243-0297, Japan
3. Chuo Precision Industrial Co., Ltd., 65 Shirasaka Miwadai, Shirakawa 961-0835, Japan
4. Graduate School of Informatics, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan