PhD student at Universidade de Lisboa Instituto Superior Técnico (IST), working on 3D computer vision. I'm currently a member of the Institute for Systems and Robotics (ISR | Lisboa) as part of the Intelligent Robots and Systems Laboratory (IRS group). My advisors are Dr. Pedro Miraldo (from Mitsubishi Electric Research Laboratories and IST) and Prof. José Gaspar (from IST). My academic career began with a bachelor's degree in Electrical and Computer Engineering from IST followed by a master's degree also in Electrical and Computer Engineering from IST. During my master's thesis, I started working with my current advisor Dr. Pedro Miraldo on a project (STORESLAM) whose objective was to map a supermarket store where a robot moves and locate it on that same map. My contribution was the development of a Simultaneous Localization and Mapping system from scratch in C++, which resulted in my thesis "Retail Store Visual Structure-from-Motion", where I obtained a grade of 18. Since 2022 I have been doing a PhD in Electrical and Computer Engineering, focusing on localization and mapping systems. An essential aspect of this field is robust and efficient estimation algorithms for common computer vision problems (e.g., RANSAC). My first work aimed at improving the robustness and efficiency of RANSAC by changing its sampling process. I developed a Dynamic Bayesian Network that estimates data points inlier probabilities iteratively, which are used in a weighted sampling process, resulting in higher chances of selecting inlier data. This work was accepted at the IEEE/CVF International Conference on Computer Vision (ICCV). In the second semester of 2023, I was a teaching assistant of object-oriented programming, lecturing laboratory lessons to bachelor's degree students. At the end of 2023, I participated in the ICCV 23 conference, where I gave an oral poster presentation about BANSAC. Later that year I attended the PhD Open Days event held at IST, where I presented BANSAC and socialized with other PhD students.