A gif of running on KITTI:
In addition to the requirements in ORB-SLAM2, it also need CUDA>=6.5 to run YOLO detection, according to your own GPU compute capability to modify the following line:
LIST(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_35,code=sm_35)
My Graphics card is：GeForce GT 730， GPU compute capability=35