1. Perceptual Robotics Laboratory (PeRL), Department of Naval Architecture and Marine Engineering; University of Michigan; 2114-D Building 520, North Campus Research Complex (NCRC), 1600 Huron Parkway Ann Arbor Michigan 48105
2. Underwater Vision Laboratory, Computer Vision and Robotics Institute; University of Girona; Edifici P-IV, Campus de Montilivi 17071 Girona Spain
3. Underwater Robotics Research Center, Computer Vision and Robotics Institute; University of Girona; Pic de Peguera, 13 (La Creueta) 17003 Girona Spain