In this example, the user specifies the I-AUV an Object Recovery Intervention. The loaded image is a photo-mosaic obtained by a real AUV (from the Research Center In Undewater Robotics, University of Girona). The user wants to recover the amphora, and uses some GUI's functions to detect it. Once the amphora has been detected, the user specifies the best fitting ellipse, which will help the system to obtain the most important data from the object (size, position, orientation). Finally, the user specifies the grasping points, which can be setted manually or automatically. All the data is exported in to a XML file by the user. The video shows this XML file and an image file with the target.