A method for steering an Autonomous Underwater Vehicle along an object buried below a seabed: the AUV being equipped with at least one acoustic transmitter for generating acoustic signal towards the buried object and the seabed; arranging a first sensor assembly substantially flush with the AUV hull of the starboard side of the AUV for recording reflected acoustic signal from the buried object and the seabed with the first sensor assembly comprising one or more acoustic sensors, arranging a second sensor assembly substantially flush with the AUV hull of the port side of the AUV for recording reflected acoustic signal from the buried object and the seabed with the second sensor assembly comprising one or more acoustic sensors, generating an acoustic signal with a center frequency range between 1 kHz and 24 kHz with the at least one acoustic transmitter, recording reflected energy from the seabed and recording reflected energy from the buried object with the first and second sensors, registering reflected energy from the buried object in the recorded reflected energy data provided by the first and the second sensors and distinguishing the buried object from the seabed as the later arrival of the reflected energy of the seabed and the buried object, determining which of starboard and port side the object lies relative the AUV by determining which sensor assembly receiving the reflected energy data from the buried object first, and navigating the AUV towards the buried object based on which of starboard and port side the object lies relative the AUV.