diff --git a/.github/workflows/build-dep-g2o.yml b/.github/workflows/build-dep-g2o.yml
index a4ed3941..8d3b70d1 100644
--- a/.github/workflows/build-dep-g2o.yml
+++ b/.github/workflows/build-dep-g2o.yml
@@ -47,9 +47,9 @@ jobs:
       working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
       run: arch -x86_64 ./build_g2o_for_mac64.sh
 
-    #- name: Run build script arm
-    #  working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
-    #  run: arch -arm64 ./build_g2o_for_macArm64.sh
+    - name: Run build script arm
+      working-directory: ${{ github.workspace }}/externals/prebuild_scripts/
+      run: ./build_g2o_for_macArm64.sh
 
     - name: Archive prebuilt g2o intel
       uses: actions/upload-artifact@v3
@@ -57,9 +57,9 @@ jobs:
         name: prebuilt-g2o-mac64
         path: ${{ github.workspace }}/externals/prebuilt/mac64_g2o_20170730
 
-    #- name: Archive prebuilt g2o arm
-    #  uses: actions/upload-artifact@v3
-    #  with:
-    #    name: prebuilt-g2o-arm64
-    #    path: ${{ github.workspace }}/externals/prebuilt/macArm64_g2o
+    - name: Archive prebuilt g2o arm
+      uses: actions/upload-artifact@v3
+      with:
+        name: prebuilt-g2o-arm64
+        path: ${{ github.workspace }}/externals/prebuilt/macArm64_g2o_20170730
 
diff --git a/cmake/DownloadPrebuilts.cmake b/cmake/DownloadPrebuilts.cmake
index 8858fcb8..b0b0a31b 100644
--- a/cmake/DownloadPrebuilts.cmake
+++ b/cmake/DownloadPrebuilts.cmake
@@ -772,7 +772,8 @@ elseif ("${SYSTEM_NAME_UPPER}" STREQUAL "DARWIN" AND
     foreach (lib ${g2o_LINK_LIBS})
         add_library(${lib} SHARED IMPORTED)
         set_target_properties(${lib} PROPERTIES
-                IMPORTED_LOCATION "${g2o_DIR}/Debug/lib${lib}.dylib"
+                IMPORTED_LOCATION "${g2o_DIR}/Release/lib${lib}.dylib"
+                IMPORTED_LOCATION_DEBUG "${g2o_DIR}/Debug/lib${lib}.dylib"
                 INTERFACE_INCLUDE_DIRECTORIES "${g2o_INCLUDE_DIR}")
         set(g2o_LIBS ${g2o_LIBS} ${lib})
     endforeach (lib)
diff --git a/externals/prebuild_scripts/build_g2o_for_macArm64.sh b/externals/prebuild_scripts/build_g2o_for_macArm64.sh
index b220a98e..6969b238 100755
--- a/externals/prebuild_scripts/build_g2o_for_macArm64.sh
+++ b/externals/prebuild_scripts/build_g2o_for_macArm64.sh
@@ -60,6 +60,7 @@ cmake \
     -DG2O_BUILD_EXAMPLES=off \
     -DCMAKE_BUILD_TYPE=Release \
     -DEIGEN3_INCLUDE_DIR=../eigen \
+    -DG2O_USE_OPENGL=off \
     ../..
  
 # finally build it