1. Hubei Key Laboratory of Intelligent Robot, Wuhan Institute of Technology, Wuhan, China
2. Computer School, Hubei University of Arts and Science, Xiangyang, China
3. School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China
4. National Engineering Research Center for Multimedia Software (NERCMS), School of Computer Science, Wuhan University, Wuhan, China
5. Department of Electrical and Computer Engineering, Texas A&M University, College Station, TX, USA