Applying Simultaneous Localization and Mapping (SLAM) methods, Zupt’s 3D Recon is used for hull/tank inspection without requiring an additional vehicle positioning solution to tie overlapping swaths of data together. 3D Recon automatically matches features between multiple vehicle passes, generating a complete spatially correct model of the exterior or interior of a submerged hull/tank. Zupt’s compact technology may be manipulated in tough-to-reach locations and oriented in any direction for efficient contactless data acquisition.