1. Fraunhofer Institute of Optronics, System Technologies, and Image Exploitation (Fraunhofer IOSB), Karlsruhe, Germany
2. Fraunhofer Institute of Optronics, System Technologies, and Image Exploitation (Fraunhofer IOSB), Karlsruhe, Germany and Vision and Fusion Laboratory (IES) at the Karlsruhe Institute of Technology (KIT)