I. Introduction
Autonomous robots and vehicles are very popular topics of today. Various car manufacturers have already announced to introduce fully autonomous driving to the streets within the next decade. However, first working systems have been introduced as early as 2005 at the DARPA Grand Challenge [1], [2]. At this event, autonomous vehicles were able to drive through a 212 km path in the Mojave Desert in the southwest of the USA. Two years later, in the DARPA Urban Challange in 2007, vehicles of various teams navigated safely through an urban environment [3]–[5]. These vehicles already used a various number of different sensors (radar, LIDAR, ultrasonic, 2D-camera, etc.). Thus, the environmental perception architectures of these systems already provide a solid foundation in order to build a state-of-the-art perception module for a vehicle or a robot.