diff --git a/gpu/kinfu/CMakeLists.txt b/gpu/kinfu/CMakeLists.txt
index 29cb73e95..fbbd294fd 100644
--- a/gpu/kinfu/CMakeLists.txt
+++ b/gpu/kinfu/CMakeLists.txt
@@ -2,7 +2,12 @@ set(SUBSYS_NAME gpu_kinfu)
 set(SUBSYS_PATH gpu/kinfu)
 set(SUBSYS_DESC "Kinect Fusion implementation")
 set(SUBSYS_DEPS common io gpu_containers geometry search)
-set(DEFAULT TRUE)
+if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0")
+  set(DEFAULT FALSE)
+  set(REASON "Kinfu uses textures which was removed in CUDA 12")
+else()
+  set(DEFAULT TRUE)
+endif()
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
diff --git a/gpu/kinfu_large_scale/CMakeLists.txt b/gpu/kinfu_large_scale/CMakeLists.txt
index d7efc4ad5..0488fcb46 100644
--- a/gpu/kinfu_large_scale/CMakeLists.txt
+++ b/gpu/kinfu_large_scale/CMakeLists.txt
@@ -2,7 +2,12 @@ set(SUBSYS_NAME gpu_kinfu_large_scale)
 set(SUBSYS_PATH gpu/kinfu_large_scale)
 set(SUBSYS_DESC "Kinect Fusion implementation, with volume shifting")
 set(SUBSYS_DEPS common io gpu_containers gpu_utils geometry search octree filters kdtree features surface)
-set(DEFAULT TRUE)
+if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0")
+  set(DEFAULT FALSE)
+  set(REASON "Kinfu_large_scale uses textures which was removed in CUDA 12")
+else()
+  set(DEFAULT TRUE)
+endif()
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})