Our environments: ubuntu18.04

Configuration required YOLOv5: https://github.com/ultralytics/yolov5 ORBSLAM2: https://github.com/raulmur/ORB_SLAM2 ORBSLAM2_with_pointcloud_map: https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map.git

ur code is tested on:

CMake 3.10.0 Eigen 3.3.2 NVIDIA CUDA 10.2 OpenCV 3.4.1 pcl: 1.8.1