Preprint
Oct 2026
Line-Augmented cuVSLAM: Robust Visual Odometry in Low-Texture Environments
A line-feature extension to cuVSLAM, a CUDA-accelerated visual-SLAM system, is presented that recovers this signal, and line features reduce mean absolute trajectory error by 38.5% over the 22 sequences of the TUM RGB-D Freiburg3 collection.
Dara Molloy, Terry Wu, Wonju Lee et al.
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