1. Hefei Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui 230031, P. R. China
2. Department of Automation, University of Science and Technology of China, Hefei, Anhui 230027, P. R. China
3. Computer Science and Engineering Department, The Chinese University of Hong Kong, Shatin, Hong Kong, China
4. Information Engineering Department, The Chinese University of Hong Kong, Shatin, Hong Kong, China