The Robotics Association participates in all six major Association for Unmanned Vehicle Systems International (AUVSI) sponsored collegiate competitions. One such competition is Robosub, which is a competition for an autonomous submarine to navigate a course and complete various tasks. During the course of this competition, precision localization is necessary. While various underwater navigational solutions can be purchased, they are often extremely expensive. This project, Autonomous Dynamic Localization System (ADLS), is designed to use hydrophones and cameras to achieve localization and virtual object marking. Hydrophones would be used to localize distance from a pinger based on time delay, while cameras would be used to track the movement of fixed objects through the frame. These two data sources can be combined to calculate a current position, as well as a direction vector. Experimental tests of the vision system have been conducted, and have provided promising results.