1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110169, China
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3. University of Chinese Academy of Sciences, Beijing 100049, China
4. Key Laboratory of Opto-Electronic Information Processing, Shenyang 110169, China
5. The Key Lab of Image Understanding and Computer Vision, Shenyang 110619, China
6. School of Computer Science and Engineering, Shenyang Jianzhu University, Shenyang 110168, China