Zupt utilizes a uniquely developed camera-inertial sensor, HaloCAM, to aid monopile installation which is a standalone and contactless system mounted to an ROV. The machine-vision software solution is used to detect an indicating marker dimensionally controlled onto a WTG monopile without physically mounting bracketry to the structure. During the final installation, HaloCAM will determine the heading (if necessary), pitch, and roll of the structure in real-time. HaloCAM combines the machine vision camera data with the ROV positioning solution to also determine the absolute position of the structure to the same level of positional accuracy as the subsea vehicle (USBL or LBL).