Best way to track motion of onject in video

I have a large UUV slowly floating around in a large tank with a camera system setup. I want to use the cameras to track the motion (and pitch). I was thinking of painting a colorful circle on the front and back end that I could then use some form of centroid detection of those dots in the video. Is there a better way? I could print off and stick on any image/shape if something else would be easier to detect (and measure the centroid of in the image). I am looking for a tried and true method instead of creating a science experiment out of the best way to detect the motion of this submersible via cameras.

You can try opencv_zoo/models/object_tracking_dasiamrpn at main · opencv/opencv_zoo · GitHub

there is c++ sample and python sample