1. College of Information Engineering, Henan University of Science and Technology, Luoyang, China
2. Longmen Laboratory and the College of Information Engineering, Henan University of Science and Technology, Luoyang, China
3. Henan Key Laboratory of Robot and Intelligent Systems and the College of Information Engineering, Henan University of Science and Technology, Luoyang, China
4. College of Vehicle and Traffic Engineering, Henan University of Science and Technology, Luoyang, China