線特徴拡張cuVSLAM：低テクスチャ環境における堅牢な視覚オドメトリ

原文アブストラクト

Autonomous mobile robots in warehouses and production facilities operate in precisely the environments that defeat point-feature visual odometry: featureless aisles, uniform walls, repetitive racking and specular floors. Such environments are, however, rich in straight-edge structure: rack uprights, door frames, wall junctions and cabinet outlines present high-contrast linear edges stable across wide viewpoint changes. A line-feature extension to cuVSLAM, a CUDA-accelerated visual-SLAM system, is presented that recovers this signal. Lines are parameterised as Plücker coordinates for geometric transport and as the minimal 4-DOF orthonormal representation of Bartoli and Sturm for optimisation; a Cauchy-robust point-to-line residual with analytic Jacobians is folded directly into cuVSLAM's per-frame Gauss-Newton pose solve, and the same line state is jointly refined in the Schur-complement sliding-window bundle adjustment. An adaptive information weight causes lines to assume more of the estimation burden exactly as point features become scarce, and the extension adds residual blocks to existing solvers rather than introducing a second estimator, reducing exactly to the unmodified point pipeline when disabled. Evaluated in RGB-D mode under SE(3) Umeyama alignment with no scale correction, line features reduce mean absolute trajectory error by 38.5% over the 22 sequences of the TUM RGB-D Freiburg3 collection and by 30.1% over the 8 Replica room and office sequences, where median translation error falls by 38.9% and median rotation error by 66.4%, with zero tracking failures in any configuration tested.