Buy or make a venturi-style nozzle for the output of your canister. Yeah, I know, bubbles...but you can direct this output into a short piece of vertical ABS or other pipe of a sufficient diameter, mounted vertically at the surface so that the bubbles all rise and escape before becoming visible at the surface of the main tank.
Or...make a simple airlift tube of opaque material, that stretches from the bottom to above the water surface. Drill holes at the bottom to admit water, and another set below the surface to release water. An airstone at the bottom will move air in at the bottom and out at the top, but the bubbles themselves will rise and break unseen in the opaque tube. The holes should be drilled at about a 45-degree angle upwards from outside to inside, to discourage bubbles from escaping. ABS is good for this purpose since it's black (not too visually intrusive) and the walls are thick enough to make the angled drilling easy and effective.
Regardless of the type of filtration you use, I think it's always a good idea to have a simple airstone or airlift in every tank just in case of mechanical problems with the main pump/filter.