1. College of Engineering and Design, Hunan Normal University, Changsha, China
2. School of Robotics, Hunan University, Changsha, China
3. School of Robotics and the Key Laboratory of Visual Perception and Artificial Intelligence of Hunan Province, Hunan University, Changsha, China
4. School of Information Engineering, East China University of Technology, Nanchang, China
5. College of Electrical and Information Engineering, Hunan University, Changsha, China