1. A method of localizing a vehicle hosting a vehicle sensor comprising the steps of: a) capturing data from the vehicle sensor providing a single representation of an environment around the vehicle at a current time; b) processing the single representation to extract a set of features from the single representation and to determine, using the extracted features, a position of the vehicle from the single representation in relation to an earlier time, the determination made by: comparing the extracted set of features from the single representation to a plurality of collections of single representations representing a same physical space of the environment, wherein each collection includes a plurality of single representations and each single representation within the collections provides a set of features, determined from a previously sensed scene, against which the extracted set of features is compared to ascertain whether the single representation can be recognised within any of the plurality of stored collections of single representations; and recognizing a node within the single representation of the environment around the vehicle at the current time; and c) if the extracted set of features of the single representation are recognised within any one of the stored collections of single representations then that stored collection of single representations is used to produce an estimate of the position of the vehicle via linking the node at the current time with respect to a node in the stored collection of single representations.