Table 3.

Datasets characteristics. The symbols $>>$, >, <, $<<$ are used to indicate the quantity: most, moderate, low and few, respectively

	Dataset_1	Dataset_2	Dataset_3	Dataset_4	Dataset_5	Dataset_6	Dataset_7	Dataset_8
Seafloor	sandy, algae (far), algae (close)	sandy, algae (far)	rocky, algae (far)	sandy, <algae (far)	sandy, algae (far)	sandy	sandy	sandy
Objects		poles		rocks	wreck	<debris	>>small rocks	<partial poles
Light	non-uniform	>>uniform	caustic pattern	night, backscatter	<<non-uniform	caustic pattern	>>uniform	>>uniform
Tint	greenish	greenish	natural	natural	greenish	natural	natural	greenish
Turbidity	low	low	low	low	low	low	low	low
# Frames	11729	5830	1929	8308	9155	2514	2522	2388
Notes		horizontal and vertical poles	little algae on rocks			robot shadow		wavy pattern on sand