Abstract: A method (1300) of generating a training dataset for use in autonomous route determination, the method comprising obtaining (1302) data from a data collection vehicle (10) driven through an environment. The data comprises vehicle odometry data detailing a path taken by the vehicle (10) through the environment, obstacle sensing data detailing obstacles detected in the environment; and images (106) of the environment. The method (1300) further comprises using (1304) the obstacle sensing data to label one or more portions of at least some of the images (108) as obstacles and using (1306) the vehicle odometry data to label one or more portions of at least some of the images (108) as the path taken by the vehicle (10) through the environment.

Abstract: A method of localizing a transportable apparatus (102) within an environment around the apparatus is disclosed. The method comprises obtaining a sequence of images (200) of the environment and generating one or more sequences of transformed images (204) from the sequence of images wherein an image from the sequence of images has undergone a transformation to provide a transformed image within the sequence of transformed images. Processing circuitry (112) is then used to compare one or more images from the sequence of transformed images (204) and one or more images from at least one of the sequence of images (200) and a further sequence of transformed images against a representation of the environment. The comparison determines corresponding features within the images (200) and/or transformed images (204) and the representation. The transportable apparatus (102) is then localized according to a position of the one or more corresponding features.

Abstract: A method of localising a transportable apparatus (102) within an environment around the apparatus is disclosed. The method comprises obtaining a sequence of images (200) of the environment and generating one or more sequences of transformed images (204) from the sequence of images wherein an image from the sequence of images has undergone a transformation to provide a transformed image within the sequence of transformed images. Processing circuitry (112) is then used to compare one or more images from the sequence of transformed images (204) and one or more images from at least one of the sequence of images (200) and a further sequence of transformed images against a representation of the environment. The comparison determines corresponding features within the images (200) and/or transformed images (204) and the representation. The transportable apparatus (102) is then localised according to a position of the one or more corresponding features.