diff --git a/CMakeLists.txt b/CMakeLists.txt
index 43801e2c..63e66bda 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -96,6 +96,14 @@ SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
+# Avoid Visual Studio bin/Release and bin/Debug sub directories
+SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
+SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
+SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
+SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
+SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
+SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
+
 ####### INSTALL DIR #######
 set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION} CACHE PATH
   "Installation directory for header files")