I have broad research interests within computer vision and robotics, including geometric vision and human-centred vision. In particular, I have investigated the problem of geometric sensor data alignment, such as camera localisation, simultaneous localisation and mapping, and structure from motion, and the underlying geometry and optimisation problems. Currently, I am increasingly looking at problems of recognising, modelling, and predicting human actions, poses and human-object interactions with a view to facilitate robot-human interaction as part of an Australian Centre for Robotic Vision project.