[1]School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China;
[2]College of Information Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
[3]Key Laboratory of Robot Technology Used for Special Environment of Sichuan Province (Southwest Universty of Science and Technology), Mianyang 621010, China;