This paper addresses Visual Odometry (VO) estimation in challenging underwater scenarios. Robot visual-based navigation faces several additional difficulties in the underwater context. which severely hinder both its robustness and the possibility for persistent autonomy in underwater mobile robots using visual perception capabilities. In this work. https://www.bekindtopets.com/top-super-Etatron-E128-Medicator-Pump-1-128-mega-choice/