I am a Ph.D. researcher in the School of Computer Science, University of Adelaide, supervised by Prof. Tat-Jun Chin and Dr. Yasir Latif. I am affiliated with Australian Institute for Machine Learning (AIML) and Australian Centre for Robotic Vision (ACRV). My research interest is to develop robust/practical optimisation algorithms for robotic perception, with a particular focus on pose estimation and Structure-from-Motion (SfM)/Simultaneous Localisation and Mapping (SLAM) problems.