Embodiments provide a system and apparatus for visual inspection of a nuclear vessel. The system includes a submersible remotely operated vehicle (SROV) system that is movable to an area within a nuclear vessel. The SROV system includes a maneuverable inspection camera assembly for visual inspection of nuclear vessel components, where the inspection camera assembly is maneuverable in relation to the SROV system. The system also includes a control system located in an area remote from the area within the nuclear vessel. The control system is configured to control the movement of the SROV system and the maneuvering of the inspection camera assembly.