National Laboratory on Machine Perception,Peking University,Beijing,100871,China;
Division of Basic Courses,Shanghai Maritime University,Shanghai,200135,China;
Base of United Creation,Shanghai Maritime University,Shanghai,200135,China;
Division of Basic Courses,Shanghai Maritime University,Shanghai,200135,China;
Base of United Creation,Shanghai Maritime University,Shanghai,200135,China;
Base of United Creation,Shanghai Maritime University,Shanghai,200135,China;
Logistics Engineering Institute,Shanghai Maritime University,Shanghai,200135,China;
visual information processing; qualitative mapping; the specific attributes;