diff --git a/.gitmodules b/.gitmodules
index 74f0ceae1..d5bd0a6c4 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -23,3 +23,6 @@
 [submodule "mil_common/perception/yolov7-ros"]
 	path = mil_common/perception/yolov7-ros
 	url = https://github.com/uf-mil/yolov7-ros.git
+[submodule "mil_common/perception/vision_stack"]
+	path = mil_common/perception/vision_stack
+	url = https://github.com/uf-mil/vision_stack.git
diff --git a/SubjuGator/perception/subjugator_perception/nodes/vision_stack_test.py b/SubjuGator/perception/subjugator_perception/nodes/vision_stack_test.py
new file mode 100755
index 000000000..833fdf3e1
--- /dev/null
+++ b/SubjuGator/perception/subjugator_perception/nodes/vision_stack_test.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import rospy
+from image_geometry import PinholeCameraModel
+from mil_ros_tools import (
+    Image_Subscriber,
+)
+from vision_stack import ResizeLayer, UnderWaterImageEnhancementLayer, VisionStack
+
+__author__ = "Daniel Parra"
+
+
+class ObjectDetectionTest:
+    def __init__(self):
+        camera = rospy.get_param("~image_topic", "/camera/front/right/image_rect_color")
+        self.vs = VisionStack(
+            layers=[
+                ResizeLayer(960, 608),
+                UnderWaterImageEnhancementLayer(),
+            ],
+        )
+
+        self.image_sub = Image_Subscriber(camera, self.detection_callback)
+        self.camera_info = self.image_sub.wait_for_camera_info()
+        assert self.camera_info is not None
+        self.cam = PinholeCameraModel()
+        self.cam.fromCameraInfo(self.camera_info)
+
+    def detection_callback(self, msg):
+        # Create Image from array
+        self.vs.run(msg, True)
+
+
+if __name__ == "__main__":
+    rospy.init_node("vision_pipeline_test")
+    ObjectDetectionTest()
+    rospy.spin()
diff --git a/mil_common/perception/vision_stack b/mil_common/perception/vision_stack
new file mode 160000
index 000000000..c0465411b
--- /dev/null
+++ b/mil_common/perception/vision_stack
@@ -0,0 +1 @@
+Subproject commit c0465411b257a947b06c7be07e8a36b270956d6d
diff --git a/requirements.txt b/requirements.txt
index 93cf473b8..0b170cc2e 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -8,7 +8,7 @@ uvloop==0.16.0
 
 # Data Science
 pandas==1.4.1
-numpy==1.22.3
+numpy==1.24.4
 
 # Machine Learning
 scipy==1.10.0
@@ -54,3 +54,4 @@ opencv-python==4.6.0.66
 seaborn==0.11.2
 thop==0.1.1.post2207130030
 requests==2.31.0
+tensorflow==2.13.1
diff --git a/ruff.toml b/ruff.toml
index 56794e48d..dbbbbc597 100644
--- a/ruff.toml
+++ b/ruff.toml
@@ -20,6 +20,7 @@ extend-exclude = [
     "NaviGator/simulation/VRX/vrx",
     "NaviGator/simulation/VRX/vrx-docker",
     "mil_common/perception/yolov7-ros",
+    "mil_common/perception/vision_stack",
     # sub simulation
     "SubjuGator/simulation",
     # docker contents
diff --git a/scripts/setup.bash b/scripts/setup.bash
index f2f1f05a7..524faa1d5 100755
--- a/scripts/setup.bash
+++ b/scripts/setup.bash
@@ -115,4 +115,4 @@ cmonly() {
 alias xbox=startxbox
 
 # PYTHONPATH modifications
-export PYTHONPATH="${HOME}/catkin_ws/src/mil/mil_common/axros/axros/src:${PYTHONPATH}"
+export PYTHONPATH="${HOME}/catkin_ws/src/mil/mil_common/perception/vision_stack/src:${HOME}/catkin_ws/src/mil/mil_common/axros/axros/src:${PYTHONPATH}"