Internal compiler error on Ubuntu 20.04

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### Steps to reproduce the issue

#### I first cloned Open3D by:
```
git clone https://github.com/isl-org/Open3D.git
cd Open3D
```

#### Then, I build Open3D (on Ubuntu 20.04, with CUDA 11.5) with:
```
mkdir build
cd build
cmake -DBUILD_SHARED_LIBS=OFF -DBUILD_CUDA_MODULE=OFF -DUSE_BLAS=ON -DBUILD_WEBRTC=OFF ..
make -j$(nproc)
```

### Error message

```shell
[ 0%] Performing build step for 'ext_assimp'
[ 8%] Built target zlibstatic
[ 9%] Building CXX object code/CMakeFiles/assimp.dir/AssetLib/IFC/IFCReaderGen1_2x3.cpp.o
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See for instructions.
code/CMakeFiles/assimp.dir/build.make:1867: recipe for target 'code/CMakeFiles/assimp.dir/AssetLib/IFC/IFCReaderGen1_2x3.cpp.o' failed
make[5]: *** [code/CMakeFiles/assimp.dir/AssetLib/IFC/IFCReaderGen1_2x3.cpp.o] Error 4
CMakeFiles/Makefile2:168: recipe for target 'code/CMakeFiles/assimp.dir/all' failed
make[4]: *** [code/CMakeFiles/assimp.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make[3]: *** [all] Error 2
CMakeFiles/ext_assimp.dir/build.make:85: recipe for target 'assimp/src/ext_assimp-stamp/ext_assimp-build' failed
make[2]: *** [assimp/src/ext_assimp-stamp/ext_assimp-build] Error 2
CMakeFiles/Makefile2:666: recipe for target 'CMakeFiles/ext_assimp.dir/all' failed
make[1]: *** [CMakeFiles/ext_assimp.dir/all] Error 2
Makefile:155: recipe for target 'all' failed
make: *** [all] Error 2
```

### Open3D, Python and System information

```markdown
- Operating system: Ubuntu 18.04
- Python version: Python 3.8
- Open3D version: 17
- System architecture: adm
- Is this a remote workstation?: no
- How did you install Open3D?: build from source
- Compiler version (if built from source): gcc 7.5
```

### Additional information

_No response_