A computerised method of generating a first trainable transform arranged to be used in localisation of an entity, the transform being arranged to transform a first representation of an environment to a second, different, representation of the environment, the method comprising processing a plurality of first training representations of an environment using the first trainable transform to generate a transformed first training representation; performing at least one of: i)) running at least one known process on the first training representation and a modified version of the first training representation to generate an error signal where in the process is selected such that the first trainable transform is arranged to enhance features within the first training representation; and ii) running at least one known process on a second training representation, corresponding to the first training representation, but under a different lighting condition, and on the modified version of the first training representation to generate an error signal wherein the process is selected such that the first trainable transform is arranged to enhance features within the first training representation; and; c) using the error signal to train the first transform.

A vehicle control apparatus comprises a radio receiver and a control unit. The radio receiver receives a terminal signal from a first terminal that a user located outside the vehicle carry. The control unit performs a remote operation control to move the vehicle in accordance with a remote operation to the first terminal. The control unit is configured to: perform the remote operation control in accordance with the remote operation, when a signal condition including a condition that the terminal signal is received is satisfied; and in a case in which the signal condition becomes unsatisfied while performing the remote operation control, continue performing the remote operation control when an unsatisfied state in which the signal condition is not satisfied has not yet continued for a predetermined extension time, and stop performing the remote operation control when the unsatisfied state has continued for the extension time.