1. College of Electrical and Information Engineering, Hunan University, Changsha 410082, China
2. National Engineering Laboratory for Robot Vision Perception and Control, Changsha 410082, China
3. Department of Mechanical Engineering, York University, Toronto ONM3J1P3, Canada
4. College of Electromechanical Engineering, Guangdong Polytechnic Normal University, Guangzhou 510635, China
5. Aluminum Corporation of China, Beijing 100000, China