I am working in the mobile robotics domain with a particular focus on long-term mobile robot navigation in changing environments. During my earlier work, I developed a robust visual navigation algorithm that allows autonomous operation of aerial and ground robots in outdoor environments that exhibit seasonal appearance variations. Later, I proposed to model the uncertainty of environment states by their frequency spectra, which improves long-term mobile robot autonomy in changing environments. As part of my work, I also implemented software libraries for fast visual tracking and UAV control, which were used by the roboticists of the NASA, EPFL, KIT, AIT etc. I cooperated with more than 20 research institutes all across the globe and I was invited to present my work at world-leading laboratories including CSAIL@MIT, GRASP@UPENN, ORI@OXFORD and ASL@ETH. My research is primarily funded by the European Union.