Merge pull request #1 from everharder/dev

Dev
performance adaption to foregroundimage, menu optimization
optimized getForegroundImg
added memory releasement of array objects
added robot stuff
added classes for beacon localization, changed ode for multiple bottom points
added support for distinction between object and beacon, added object catching
complete rework
fixed bugs
Robot localization
changed datastructure to support pairing of bottompoint and distance
merge stuff
merge stuff