I. Introduction
Bearing is a critical and easily damaged component of rotating machinery. Bearing fault diagnosis has received extensive attention since its importance in preventing potential catastrophic accidents and ensuring adequate maintenance time [1]–[3]. Vibration signal collected from bearing contains rich information about the equipment health condition and is sensitive to different fault types. Therefore, vibration signals generated by faults in bearing have been widely studied and a lot of research work has been published [4]–[6]. From the mechanical fault mechanism, when bearing has local defects, there will be periodic impulse in the vibration measurement [7], [8]. Additionally, in some cases, the vibration signals of periodic fault impulses exhibit amplitude modulation features. Therefore, periodic impulses and amplitude modulation features are strong evidence to reveal bearing faults [6], [9], [10]. However, these fault impulses are usually weak because they are buried in strong vibration responses from other mechanical components and severe background noises [11], [12]. Therefore, it is a challenge to extract impulses from the vibration signal for bearing fault diagnosis.