1. Institute for Data Processing and Electronics, Karlsruhe Institute of Technology, 76344 Eggenstein-Leopoldshafen, Germany
2. Object Recognition Department, Fraunhofer IOSB, 76275 Ettlingen, Germany
3. Institute for Information Processing Technology, Karlsruhe Institute of Technology, 76128 Karlsruhe, Germany
4. Chair for Embedded Systems in Information Technology, Ruhr-University of Bochum, 44780 Bochum, Germany