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We describe a novel and robust minimal solver for performing online visual odometry with a stereo rig. The proposed method can compute the underlying camera motion given any arbitrary, mixed combination of point and line correspondences across two stereo views. This facilitates a hybrid visual odometry pipeline that is enhanced by welllocalized and reliably-tracked line features while retaining the well-known advantages of point features. Utilizing trifocal tensor geometry and quaterniondoi:10.1109/cvpr.2010.5539792 dblp:conf/cvpr/PradeepL10 fatcat:h44bt7vlergxhk3vw77htxewre