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First, I want to thank Professor Dr.-Ing. Rainer Stiefelhagen for his invaluable support and guidance throughout my PhD. I am very grateful for the wide range of opportunities that I was given at the lab: conducting research, writing proposals, designing lectures, supervising students, coordinating the practical course, and especially organizing our reading groups. I thank Professor Dr.-Ing. Jürgen Beyerer for agreeing to be a reviewer of this thesis and for giving valuable feedback.doi:10.5445/ir/1000143206 fatcat:x4ubsbiusndtfjwj6ocqcy3oei