My research interests are usually around three related areas: robotics, wearable computing and computer vision. Robots and Wearables face very similar challenges, they usually have to work in real-time under reduced computational, energy and sensing resources, and therefore, similar techniques for reasoning and sensing can be applied in both. On the other side, Computer Vision studies how to understand and represent the world using visual sensors, and for a number of reasons, cameras are very interesting sensors: they are commonplace, cheap and small, while being able to recover a plethora of information, e.g. 3D structure, object ID, self and object motion and serve as input devices for human-computer (or robot) interaction.