An apparatus for guiding an autonomous vehicle towards a docking station including an autonomous vehicle with a camera-based sensing system, a drive system for driving the autonomous vehicle, and a control system for controlling the drive system. The apparatus includes a docking station including a first fiducial marker and a second fiducial marker, wherein the second fiducial marker is positioned on the docking station to define a predetermined relative spacing with the first fiducial marker, wherein the control system is operable to receive an image provided by the camera-based sensing system, the image including a representation of the first and second fiducial markers, and to control the drive system so as to guide the autonomous vehicle towards the base station based on a difference between the representation of the first and second fiducial markers in the received image and the predetermined relative spacing between the first and second fiducial markers.