Hi @884866 -
Welcome to the forums!
You’re definitely pushing the envelope with path tracking with a BlueROV2. I’d disagree with @clark598dahl - using onboard IMU and compass is not practical for estimating position, this has been discussed quite a lot, this comment sums things up well.
As for using a camera, if you pointed an Oak-D stereocamera at the bottom, or at a 45 degree angle, and used this extension, you may have success with station keeping and route following - however this is a new, beta solution that is still in development, and housing a camera like that in a way that doesn’t introduce distortion can be tricky!