1. Vision and Fusion Laboratory, Karlsruhe Institute of Technology, Karlsruhe, Germany
2. Fraunhofer Institute for High Frequency Physics and Radar Techniques FHR, Wachtberg, Germany
3. Koblenz Technical University, Germany
4. Fraunhofer Institute for Optronics System Technologies and Image Exploitation IOSB, Karlsruhe, Germany
5. Karlsruhe Institute of Technology, Karlsruhe, Germany
6. Integrated Circuits and Sensor Systems, Fraunhofer Institute for High Frequency Physics and Radar Techniques FHR, Wachtberg, Germany
7. Anthropomatics and Robotics, Fraunhofer Institute for Optronics System Technologies and Image Exploitation IOSB, Karlsruhe, Germany