diff --git a/CMakeLists.txt b/CMakeLists.txt
index ce4653d2c4..846f349aad 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -285,6 +285,8 @@ include(cmakemodules/script_wxwidgets.cmake REQUIRED)   # Check for wxWidgets +
 include(cmakemodules/script_xsens.cmake REQUIRED)       # XSens Motion trackers / IMU drivers
 include(cmakemodules/script_zlib.cmake REQUIRED)        # Check for zlib
 
+include(cmakemodules/process_emscripten_embedded_files.cmake REQUIRED)
+
 # ---------------------------------------------------------------------------
 #			OPTIONS
 #The options for the user when using "cmakesetup" or "ccmake":
diff --git a/cmakemodules/process_emscripten_embedded_files.cmake b/cmakemodules/process_emscripten_embedded_files.cmake
new file mode 100644
index 0000000000..ef087abb15
--- /dev/null
+++ b/cmakemodules/process_emscripten_embedded_files.cmake
@@ -0,0 +1,50 @@
+
+# Parse all .cpp sources of a given `target`, and for each comment like:
+#  //! JS_PRELOAD_FILE <name>
+# it will append a link flag like: 
+#  --preload-file <name>
+# Only if building for Emscripten. It has no effects otherwise.
+#
+# 07/March/2022, Jose Luis Blanco Claraco
+#
+function(process_emscripten_embedded_files targetName_)
+	if (NOT "${CMAKE_SYSTEM_NAME}" STREQUAL "Emscripten")
+		return()
+	endif()
+
+	get_target_property(targetCWD ${targetName_} BINARY_DIR)
+
+	get_target_property(MY_SOURCES ${targetName_} SOURCES)
+	foreach(fil_ ${MY_SOURCES})
+		#message(STATUS "Processing: ${fil_}")
+		file(STRINGS "${fil_}" content_)
+		string(REGEX MATCHALL "//! JS_PRELOAD_FILE.+\\|([-A-Za-z0-9_\\./]+)\\|" myMatches_ "${content_}")
+		foreach(match_ ${myMatches_})
+			message(STATUS "match_ 1: ${match_}")
+			string(REGEX REPLACE "<(.+)>" "\\1" f_ "${match_}")
+			message(STATUS "f: ${f_}")
+			if (NOT f_)
+				continue()
+			endif()
+			message(STATUS "[emscripten] Embedding file '${f_}' into '${targetName_}'")
+
+			if(NOT COMMAND target_link_options)
+				message("Warning: This feature requires target_link_options() [cmake >=3.13]")
+				return()
+			endif()
+
+			set(absPath ${MRPT_SOURCE_DIR}/${f_})
+			set(relativePath ${f_})
+
+			# Create copies (symlinks dont work...) to access the files via relative paths:
+			execute_process(COMMAND bash -c "mkdir -p \$(dirname ${relativePath})" WORKING_DIRECTORY ${targetCWD})
+			execute_process(COMMAND bash -c "cp ${absPath} ${relativePath}" WORKING_DIRECTORY ${targetCWD})
+
+			target_link_options(${targetName_} PRIVATE --preload-file ${relativePath})
+		endforeach()
+	endforeach()
+
+	# Make the .data file accessible to the emscripten linker:
+	execute_process(COMMAND bash -c "ln -s ${EXECUTABLE_OUTPUT_PATH}/${targetName_}.data ${targetCWD}/${targetName_}.data"  OUTPUT_QUIET ERROR_QUIET)
+
+endfunction()
diff --git a/libs/obs/src/CObservationIMU_unittest.cpp b/libs/obs/src/CObservationIMU_unittest.cpp
index 31ea9ee828..12dd61e9f7 100644
--- a/libs/obs/src/CObservationIMU_unittest.cpp
+++ b/libs/obs/src/CObservationIMU_unittest.cpp
@@ -34,6 +34,7 @@ TEST(CObservationIMU, Deserialize_v3)
 
 	mrpt::obs::CRawlog dataset;
 
+	//! JS_PRELOAD_FILE <tests/test-imu-obs-format3.rawlog>
 	const auto sFil =
 		mrpt::UNITTEST_BASEDIR + "/tests/test-imu-obs-format3.rawlog"s;
 
@@ -51,6 +52,7 @@ TEST(CObservationIMU, Deserialize_v4)
 
 	mrpt::obs::CRawlog dataset;
 
+	//! JS_PRELOAD_FILE <tests/test-imu-obs-format4.rawlog>
 	const auto sFil =
 		mrpt::UNITTEST_BASEDIR + "/tests/test-imu-obs-format4.rawlog"s;
 
diff --git a/libs/obs/src/CSimpleMap_unittest.cpp b/libs/obs/src/CSimpleMap_unittest.cpp
index d9e311f03c..d1e4e48ba1 100644
--- a/libs/obs/src/CSimpleMap_unittest.cpp
+++ b/libs/obs/src/CSimpleMap_unittest.cpp
@@ -13,6 +13,7 @@
 
 TEST(CSimpleMap, ParseFileInFormat_v1_5)
 {
+	//! JS_PRELOAD_FILE <share/mrpt/datasets/localization_demo.simplemap.gz>
 	const std::string fil = mrpt::UNITTEST_BASEDIR +
 		std::string("/share/mrpt/datasets/localization_demo.simplemap.gz");
 
diff --git a/libs/opengl/src/serializations_unittest.cpp b/libs/opengl/src/serializations_unittest.cpp
index 0761e38010..4fd198a765 100644
--- a/libs/opengl/src/serializations_unittest.cpp
+++ b/libs/opengl/src/serializations_unittest.cpp
@@ -95,6 +95,7 @@ TEST(SerializeTestOpenGL, PredefinedSceneFile)
 {
 	using namespace std::string_literals;
 
+	//! JS_PRELOAD_FILE <tests/default-scene.3Dscene>
 	const std::string fil =
 		mrpt::UNITTEST_BASEDIR + "/tests/default-scene.3Dscene"s;
 
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 7dc1c86aa6..f4d8f16096 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -21,7 +21,12 @@ if (UNIX)
 endif()
 
 
-add_definitions(-DCMAKE_UNITTEST_BASEDIR="${MRPT_SOURCE_DIR}")
+if (NOT "${CMAKE_SYSTEM_NAME}" STREQUAL "Emscripten")
+	add_definitions(-DCMAKE_UNITTEST_BASEDIR="${MRPT_SOURCE_DIR}")
+else()
+	# Use relative paths for embedded files:
+	add_definitions(-DCMAKE_UNITTEST_BASEDIR=".")
+endif()
 
 # Allow tests to include sources from examples directory:
 include_directories("${MRPT_SOURCE_DIR}")
@@ -46,7 +51,6 @@ if(MSVC)
 	add_definitions(/D_SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING)
 endif()
 
-
 get_property(LST_LIB_TESTS GLOBAL PROPERTY "MRPT_TEST_LIBS")
 foreach(_TSTLIB ${LST_LIB_TESTS})
 	string(REGEX REPLACE "mrpt_(.*)" "mrpt-\\1" _TSTLIB_DASH ${_TSTLIB})
@@ -63,6 +67,8 @@ foreach(_TSTLIB ${LST_LIB_TESTS})
 
 	add_coverage(test_${_TSTLIB})
 
+	process_emscripten_embedded_files(test_${_TSTLIB})
+
 	# Add the required libraries for linking:
 	if (CMAKE_MRPT_HAS_GTEST_SYSTEM)
 		# System vesion:
@@ -94,7 +100,7 @@ foreach(_TSTLIB ${LST_LIB_TESTS})
 		else()
 			target_link_libraries(test_${_TSTLIB} ${_DEPLIB})
 		endif()
-	endforeach(_DEPLIB)
+	endforeach()
 
 	# Run it:
 	set(GENERATED_EXE "$<TARGET_FILE:test_${_TSTLIB}>")