Wasielewski and Aldon 1996 : Station keeping is an important capability for various functions involving the operation of undersea vehicles. This involves an accurate estimation of the vehicle displacement. In this paper we propose a monocular vision system for determining the motion of an underwater remotely operated vehicle. The camera motion is estimated with a feature-based method which requires the extraction and the matching of relevant features. The performance of the algorithm is presented with simulated and synthetic images.