Thanks everyone. I have received confirmation from ADAC if there is a green arrow sign next to the red light, right turn on red is permitted after coming to a stop and yielding to all other traffic and pedestrians. If no green arrow sign means no right turn on red.

So it's the reverse of the North American practice. In Germany, no right turn on red unless there is a green arrow sign whereas in North America, right turn on red is permitted unless there is a sign ordering drivers that it is not permitted at that intersection.

ADAC also sent me this link on traffic signs in Germany:

http://www.adac.de/_mmm/pdf/fi_05_ve...0510_30482.pdf