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Waveform inversion is an approach used to find an optimal model for the velocity field of a ground structure such that the dynamic response is close enough to the given seismic data. First, a suitable numerical approach is employed to establish a realistic forward computer model. The forward problem is solved in the frequency domain using higher-order finite elements. The velocity field is inverted over a specific number of discrete frequencies; thereby, reducing the computational cost of the forward calculation and the nonlinearity of the inverse problem. The results are presented for different frequency sets and with different source and receiver locations for a two-dimensional model. The influence of attenuation effects is also investigated. The results of two blind tests are presented where only the seismic records of an unknown synthetic model with an inhomogeneous material parameter distribution are provided to mimic a more realistic case. Finally, the result of the inversion in a three-dimensional space is illustrated.