ZHANG Hui　Professor at the School of Robotics, Hunan University. He received his bachelor, master and Ph.D. degrees from Hunan University in 2004, 2007 and 2012. His research interest covers industrial machine vision and digital image processing. Corresponding author of this paper

ZHANG Zou-Quan　Master student at the School of Electrical and Information Engineering, Changsha University of Science and Technology. His research interest covers deep learning and visual inspection

CHEN Yu-Rong　Ph.D. candidate at the School of Electrical and Information Engineering, Hunan University. He received his master degree from University of Pittsburgh in 2020. His research interest covers image processing, machine learning and domain adaptionon

WU Tian-Yue　Master student at the School of Electrical and Information Engineering, Changsha University of Science and Technology. Her research interest covers deep learning and visual inspection

ZHONG Hang　Postdoctor at Hunan University. He received his bachelor, master and Ph.D. degrees from Hunan University in 2013, 2016 and 2020. His research interest covers robotics control, visual servo and path planning

WANG Yao-Nan　Academician at Chinese Academy of Engineering, professor at the School of Robotics, Hunan University. He received his Ph.D. degree from Hunan University in 1995. His research interest covers robotics, intelligent control and image processing