improvement(perception): Improve generics usag in perception module

[schwepmo]

Description

• This PR implements a more coherent way to use generics when handling different SpatialObjects
• Additionally some cleanup was done
• This should be merged after build: migrate to Java 17 #410

Issue(s) related to this PR

• not related to an issue

Affected parts of the online documentation

Changes in the documentation required?

Definition of Done

Prerequisites

• You have read CONTRIBUTING.md carefully.
• You have signed the Contributor License Agreement.
• Your GitHub user id is linked with your Eclipse Account.

Required

• The title of this merge request follows the scheme type(scope): description (in the style of Conventional Commits)
• You have assigned a suitable label to this pull request (e.g., enhancement, or bugfix)
• origin/main has been merged into your Fork.
• Coding guidelines have been followed (see CONTRIBUTING.md).
• All checks on GitHub pass.
• All tests on Jenkins pass.

Requested (can be enforced by maintainers)

• New functionality is covered by unit tests or integration tests. Code coverage must not decrease.
• If a bug has been fixed, a new unit test has been written (beforehand) to prove misbehavior
• There are no new SpotBugs warnings.

Special notes to reviewer