FastLoop: Parallel Loop Closing with GPU-Acceleration in Visual SLAM

arXiv:2603.17201 · cs.RO · Submitted 2026-03-17 · Read on arXiv

cs.RO

Submitted: 2026-03-17

Updated: 2026-09-17

Code: https://github.com/sfu-rsl/FastLoop

Terminology

• Accuracy — 8× in this paper · explained in 1 episode
• Core — 6× in this paper · explained in 2 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Feature Extraction — 3× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Absolute Trajectory Error — 1× in this paper
• Aggregation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Initial Data — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Simultaneous Localization and Mapping — 1× in this paper
• Verification — 1× in this paper · explained in 2 episodes

Sources

• FastTrack: GPU-Accelerated Tracking for Visual SLAM
• cuVSLAM: CUDA accelerated visual odometry and mapping
• Graphite: A GPU-Accelerated Mixed-Precision Graph Optimization Framework

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