Marius Vögtli, University of Zurich, Switzerland; Simon Schreiner, Florian Queck, Jannick Kuester, Jonas Mispelhorn, Fraunhofer IOSB, Germany; Luc Sierro, University of Zurich, Switzerland; Wolfgang Middelmann, Wolfgang Gross, Fraunhofer IOSB, Germany; Mathias Kneubühler, University of Zurich, Switzerland