在做ORB_SLAM2的时候，编译已通过，运行时出错：段错误 (核心已转储)，请问怎么解决？
caomi@caomi-ubuntu:~/catkin_ws/src/ORB_SLAM2_modified$ rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded in 16.40s
段错误 (核心已转储)
gdb OTB_SLAM2 core
引用了空指针哈，只有debug一步一步的找，数组是不是越界了，