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cs.RO2026
Line-Augmented cuVSLAM: Robust Visual Odometry in Low-Texture Environments
Dara Molloy, Terry Wu, Wonju Lee +4
Autonomous mobile robots in warehouses and production facilities operate in precisely the environments that defeat point-feature visual odometry: featureless aisles, uniform walls,…
cs.RO2026
Smart Fusion for Adaptive Visual-IMU Weighting in cuVSLAM Sparse Bundle Adjustment
Wonju Lee, Dara Molloy, Abhilash Nand Kumar +5
In cuVSLAM, visual and inertial measurement unit (IMU) residuals are fused in sparse bundle adjustment (SBA) with a weighting fixed by pre-calibrated noise covariances, leaving no…