I am a researcher at the Cambridge Research Laboratory of Toshiba Research Europe. My research interests include visual modeling, efficient and real-time methods in computer vision and numerical optimization, mathematical computer vision, and vision for graphics. More specifically, my research interests and expertise include most aspects of 3D modeling from images and videos, in particular structure-from-motion (SfM) computation and visual SLAM (simultaneous localization and mapping) methods for dense 3D reconstruction novel minimal solvers for robust estimation and camera calibration.