Center for Brain-Like Computing and Machine Intelligence, Department of Computer Science and Engineering, Shanghai Jiao Tong University, Shanghai, China.|Center for Brain-Like Computing and Machine Intelligence, Department of Computer Science and Engineering, Shanghai Jiao Tong University, Shanghai, China.|School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China.|Institute of Image Processing and Pattern Recognition, Shanghai Jiao Tong University, Shanghai, China.