* HEUDIASYC, joint laboratory between CNRS and University of Technology of Compiegne, FRANCE;\\ * Key laboratory on Machine Perception (Ministry of Education), Peking University, Beijing, CHINA;\\ * E-Motion, joint project-team between Inria and LIG Laboratory, Monbonnot, Saint-Ismier, FRANCE;\\ * PSA Peugeot Citroen via DRIA at Vélizy (FRANCE) and Shanghai (CHINA) Technical Centers. PSA Peugeot Citroen researchers compose the Advisory Board of the project.