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Monitoring turbulence parameters is crucial in high-angular resolutionastronomy for various purposes, such as optimising adaptive optics systems orfringe trackers. The former are present at most modern observatories and willremain significant in the future. This makes them a valuable complementary toolfor the estimation of turbulence parameters.  The feasibility of estimating turbulence parameters from low-resolutionsensors remains untested. We perform seeing estimates for both simulated andon-sky telemetry data sourced from the new adaptive optics module installed onthe four Auxiliary Telescopes of the Very Large Telescope Interferometer.  The seeing estimates are obtained from a modified and optimised algorithmthat employs a chi-squared modal fitting approach to the theoretical vonK\'arm\'an model variances. The algorithm is built to retrieve turbulenceparameters while simultaneously estimating and accounting for the remaining andmeasurement error. A Monte Carlo method is proposed for the estimation of thestatistical uncertainty of the algorithm.  The algorithm is shown to be able to achieve per cent accuracy in theestimation of the seeing with a temporal horizon of 20s on simulated data. A0.76" +/- 1.2%$|_\mathrm{stat}$ +/- 1.2%$|_\mathrm{sys}$ median seeing wasestimated from on-sky data collected from 2018 and 2020. The spatialdistribution of the Auxiliary Telescopes across the Paranal Observatory wasfound to not play a role in the value of the seeing.

Integrated turbulence parameters' estimation from NAOMI adaptive optics telemetry data