1. Department of Material Handling and Logistics Systems, Faculty of Transportation Engineering and Vehicle Engineering, Budapest University of Technology and Economics, Muegyetem rkp. 3., H-1111 Budapest, Hungary
2. Machine Perception Research Laboratory of Institute for Computer Science and Control (SZTAKI), Eötvös Loránd Research Network (ELKH), Kende u. 13-17., H-1111 Budapest, Hungary