1. Faculty of Electrical Engineering, University of Ljubljana, Tržaška 25, Ljubljana 1000, Slovenia and Cosylab, Control System Laboratory, Teslova ulica 30, Ljubljana 1000, Slovenia
2. Faculty of Electrical Engineering, University of Ljubljana, Tržaška 25, Ljubljana 1000, Slovenia
3. Faculty of Electrical Engineering, University of Ljubljana, Tržaška 25, Ljubljana 1000, Slovenia and Sensum, Computer Vision Systems, Tehnološki Park 21, Ljubljana 1000, Slovenia