1. School of Computer Science and Engineering, Wuhan Institute of Technology, Wuhan 430205, China
2. Hubei Key Laboratory of Intelligent Robot, Wuhan Institute of Technology, Wuhan 430205, China
3. School of Systems Science, Beijing Normal University, Beijing 100875, China
4. China Siwei Surveying and Mapping Technology Co., Ltd., Beijing 100044, China
5. School of Civil Engineering and Architecture, Wuhan Institute of Technology, Wuhan 430074, China