[1] Yokohama Natl Univ, Grad Sch Engn, Dept Elect & Comp Engn, Yokohama, Kanagawa 240, Japan
[2] Tokyo Inst Technol, Precis & Intelligence Lab, Yokohama, Kanagawa 2268503, Japan
[3] Yokohama Natl Univ, Grad Sch Engn, Dept Elect & Comp Engn, Yokohama, Kanagawa 2408501, Japan
[4] Yokohama Natl Univ, Fac Engn, Yokohama, Kanagawa 2408501, Japan