1. A method of estimating position and orientation of an underwater vehicle comprising: receiving, by a processor, pose data from one source, the one source being a vehicle navigation system; receiving, by a processor, pose data from another source being an image sensor-base source different from the vehicle navigation system; determining a fused pose estimate using a processor, the determining comprising determining a forward prediction of the pose data received from the image sensor-based source based on a forward propagation of the pose data from the image sensor-based source relative to the pose data from the vehicle navigation system and combining, using a processor, the pose data from the vehicle navigation system and the forward prediction of the pose data from the image sensor-based source, the combination resulting in the fused pose estimate; and estimating, using a processor, an updated pose of the underwater vehicle based on the fused pose estimate.