1. VTT Technical Research Centre of Finland Ltd., Tekniikantie 21, Otaniemi, 02150 Espoo, Finland
2. Intelligent Autonomous Systems Group, TNO Netherlands Organisation for Applied Scientific Research, Oude Waalsdorperweg 63, 2597 AK The Hague, The Netherlands
3. Smart Sensor Systems Research Group, Department of Mechatronics, The Hague University of Applied Sciences, Rotterdamseweg 137, 2628 AL Delft, The Netherlands