1. Key Laboratory of Grain Information Processing and Control, Henan University of Technology, Ministry of Education, Zhengzhou 450001, P. R. China
2. Henan Key Laboratory of Grain Photoelectric Detection and Control, Henan University of Technology, Zhengzhou 450001, P. R. China
3. School of Artificial Intelligence and Big Data, Henan University of Technology, Zhengzhou 450001, P. R. China
4. Unmanned System Research Institute, Northwestern Polytechnical University, Xi’an 710072, P. R. China
5. School of Computer Science and Engineering, South China University of Technology, Guangzhou 510641, P. R. China
6. College of Computer and Communication Engineering, Zhengzhou University of Light Industry, Zhengzhou 450001, P. R. China