1. Vision Laboratory, Department of Innovation and Innoventures, OSRAM Licht AG, Garching, Germany
2. Visual Geometry and Modelling Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
3. Vision, Image Processing and Sound Laboratory, Department of Computer Science, University of Verona, Verona, Italy
4. Perception and Intelligence Laboratory, Department of Computer Science, Sapienza University of Rome, Rome, Italy