My main research interest lies in the interception of perception and learning in robotics. I am particularly interested on how to provide machines the capability of understanding this ever changing world through the sensory information they can gather. I have work intensively on robotic scene understanding, both geometry and semantics, covering semantic mapping, data association and place recognition tasks, simultaneous localization and mapping problems, as well as persistent mapping in dynamic environments. I have a focus on developing robust, modular, and introspective perception systems.