1. Chongqing Key Laboratory of Autonomous Systems and the School of Automation, Chongqing University, Chongqing, China
2. Institute of Microelectronics, State Key Laboratory of Analog and Mixed-Signal VLSI, University of Macau, Macau, China
3. Joint Laboratory, Zhuhai UM Science and Technology Research Institute—Lingyange Semiconductor Inc, Zhuhai, China
4. Ministry of Education, and the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology, School of Artificial Intelligence, the Research Center of Autonomous Unmanned System Technology, Anhui University, Hefei, China
5. School of Electrical and Information Engineering, Tianjin University, Tianjin, China