1. Budapest University of Technology and Economics, Müegyetem rkp. 3, H-1111 Budapest, Hungary and Machine Perception Research Laboratory of Institute for Computer Science and Control (SZTAKI),Department of Networked Systems and Services,Budapest,Hungary,H-1111
2. Budapest University of Technology and Economics (BME-KJK), Müegyetem rkp. 3, H-1111 Budapest, Hungary,Faculty of Transportation Engineering and Vehicle Engineering, Machine Perception Research Laboratory of Institute for Computer Science and Control (SZTAKI),Budapest,Hungary,H-1111