Zupt’s 3D Recon technology provides a real-time relative-to-structure positioning solution for external ROV-mounted sensors. Zupt’s 3D Recon provides a relative, sub-centimeter position to any external sensors that are also interfaced with the subsea vehicle. Necessary for many integrity management surveys, such as contactless cathodic protection, 3D Recon not only eliminates the need for a complicated ROV positioning solution for relative positioning but also provides a sparse and dense point cloud for the external vehicle sensors to overlay their data.