The present invention relates to a method of co-localisation for multiple devices. More precisely, it relates to the use of both local and remote resources to provide substantially real time capability for individual devices to determine the relative position and/or pose of the or each individual device and other devices in three-dimensional space.;According to a first aspect, there is provided a method of determining a relative location of devices having one or more sensors comprising the steps of: receiving localisation requests from a plurality of devices, the localisation requests comprising at least a portion of data from the one or more sensors; sending localisation data to at least one of the plurality of devices in response to the localisation requests; receiving pose data from one or more of the plurality of devices; sending pose data to at least one of the plurality of devices; wherein one or more of the plurality of devices is operable to determine the relative location of at least one or more of the plurality of devices from the received localisation data and pose data.
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