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The pipeline enables net-relative pose estimation for Unmanned Underwater Vehicles (UUVs) and depth prediction within net pens solely from visual data by combining deep learning-based monocular depth prediction with sparse depth priors derived from a classical Fast Fourier Transform (FFT)-based method. We further introduce a method to estimate a UUV\u2019s global pose by fusing these net-relative estimates with acoustic measurements, and demonstrate how the predicted depth images can be integrated into the wavemap mapping framework to generate detailed 3D maps in real-time. Extensive evaluations on datasets collected in industrial-scale fish farms confirm that the presented framework can be used to accurately estimate a UUV\u2019s net-relative and global position in real-time, and provide 3D maps suitable for autonomous navigation and inspection.<\/jats:p>","DOI":"10.3389\/frobt.2025.1609765","type":"journal-article","created":{"date-parts":[[2025,6,26]],"date-time":"2025-06-26T04:10:53Z","timestamp":1750911053000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["Leveraging learned monocular depth prediction for pose estimation and mapping on unmanned underwater vehicles"],"prefix":"10.3389","volume":"12","author":[{"given":"Marco","family":"Job","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"David","family":"Botta","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Victor","family":"Reijgwart","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Luca","family":"Ebner","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrej","family":"Studer","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Eleni","family":"Kelasidi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2025,6,26]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"117734","DOI":"10.1016\/j.eswa.2022.117734","article-title":"A survey of state-of-the-art on visual slam","volume":"205","author":"Abaspur Kazerouni","year":"2022","journal-title":"Expert Syst. 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