1. Computer Vision and Robotics Institute, University of Girona, Campus Montilivi, Edif. P4, ES17003, Girona, Spain
2. Girona Vision Research SL, Science and Technology Park of the University of Girona, c/ Pic de Peguera 11, Edif. Giroemprèn, ES17003, Girona, Spain
3. Coronis Computing SL, Science and Technology Park of the University of Girona, c/ Pic de Peguera 11, Edif. Giroemprèn, ES17003, Girona, Spain
4. Institute of Marine Research, P.O. Box 1870 Nordnes, NO-5817 Bergen, Norway
5. Scantrol Deep Vision, Sandviksboder 1C, NO-5035 Bergen, Norway