Real-time image exchange among different marine autonomous robots can be a requirement in some applications, and it becomes a real challenge particularly in underwater systems with restricted bandwidth communications. Some examples where visual data transmission is needed include: a) detecting inter-session visual loop closings in multi-robot SLAM approaches, b) remote and fast awareness of underwater biologic or archaeological hot-spots from mobile submersed robots to any surfaced station and from this to the world or c) cooperative intervention using a robotic team demanding different points of view of the elements of interests to be manipulated, taken from different autonomous robots equipped with cameras. Since optical links imply high directionality and limited ranges, acoustic modems turn out to be the most used transmission system for their versatility and omnidirec- tionality, despite their very limited bandwidth. Dealing with bandwidth limitations in underwater omni-directional acoustic links has been an important objective in applications that require loss-less and efficient data exchange, for instance, in cooperative sampling or localization, but scarcely approached to transmit entire images, rather than their corresponding visual features of global signatures, in multi-agent intervention systems.