Working on cutting-edge algorithms for underwater robot localization and 3D reconstruction based on stereo-vision. Combining a large number of sensors (IMU, depth, DVL, USBL...) and vision (odometry and loop closings) to obtain the best robot position in the worst conditions. Designing algorithms to provide 3D reconstructions of subsea environments online, during the robot mission. With the main objecive of guiding the ROVs pilots or helping the technicians or inspectors with instant visualizations of marine structures.