After a few days searching, I find it's clearly explained in the wiki pages:
Two events A and B are independent if and only if their joint
probability equals the product of their probabilities:
$P(A∩B)=P(A)P(B) $
Why this defines independence is made clear by rewriting with
conditional probabilities: 
Although the derived expressions may seem more intuitive, they are not
the preferred definition, as the conditional probabilities may be
undefined if $P(A)$ or $P(B)$ are 0. Furthermore, the preferred
definition makes clear by symmetry that when $A$ is independent of
$B$, $B$ is also independent of $A$.