Apparatuses and systems including curved optical waveguides, and methods for use include an output-grating of a curved waveguide that includes a spatially modulated grating period configured to cause, for each beam of light corresponding to an image coupled into a bulk-substrate of the curved waveguide by an input-grating, corresponding rays of light output from different locations of the output-grating to be substantially collimated. Adaptive optics of a display engine compensate for aberrations that vary over a field-of-view associated with light corresponding to the image out-coupled by the output-grating. Further, a curved portion of the curved waveguide is designed to keep internally reflected light below a critical angle to prevent inadvertent out-coupling thereof. Further, curved surfaces of the curved waveguide can include polynomial surfaces to compensate for lateral color errors and distortion.