Autonomous route determination

A method of controlling an autonomous vehicle comprising:

• training a segmentation framework using a training dataset, wherein the training dataset is generated by processing data comprising:
• test vehicle odometry data detailing a path taken by a test vehicle through the environment,
• obstacle sensing data detailing obstacles detected in the environment;
• and
• images of the environment;
• the processing comprising:
• using the obstacle sensing data to label one or more portions of at least some of the images as obstacles;
• using the test vehicle odometry data to label one or more portions of at least some of the images as the path taken by the test vehicle through the environment;
• creating the training dataset from the labelled images;
• using the training dataset to train the segmentation framework;
• using the trained segmentation framework to inform a route planner of the autonomous vehicle;
• and
• using the route planner to generate routes for the autonomous vehicle to follow.