diff --git a/CMakeLists.txt b/CMakeLists.txt
index 80a0bc7..969db81 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -126,19 +126,8 @@ set(EXTERNAL_LIBS ${EXTERNAL_LIBS} ${Boost_LIBRARIES})
 #--------------------
 # DEPENDENCY: eigen 3
 #--------------------
-find_path(EIGEN_INCLUDE_DIR Eigen/Core
-	/usr/local/include/eigen3
-	/usr/include/eigen3
-)
-
-# Suppress Eigen's warning by adding it to the system's library
-include_directories(SYSTEM "${EIGEN_INCLUDE_DIR}")
-
-#TODO: this should be a more standard way
-#find_package(Eigen3 REQUIRED)
-#message("-- eigen3 , version ${EIGEN_VERSION}")
-
-
+find_package(Eigen3 REQUIRED)
+include_directories(${Eigen_INCLUDE_DIRS})
 
 #--------------------
 # DEPENDENCY: nabo
diff --git a/pointmatcher/DataPointsFilters/CovarianceSampling.cpp b/pointmatcher/DataPointsFilters/CovarianceSampling.cpp
index 477e69a..747e66c 100644
--- a/pointmatcher/DataPointsFilters/CovarianceSampling.cpp
+++ b/pointmatcher/DataPointsFilters/CovarianceSampling.cpp
@@ -40,8 +40,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <unordered_map>
 
 // Eigenvalues
-#include "Eigen/QR"
-#include "Eigen/Eigenvalues"
+#include "eigen3/Eigen/QR"
+#include "eigen3/Eigen/Eigenvalues"
 
 // CovarianceSamplingDataPointsFilter
 template <typename T>
diff --git a/pointmatcher/DataPointsFilters/Elipsoids.cpp b/pointmatcher/DataPointsFilters/Elipsoids.cpp
index 20f28cf..0f5f981 100644
--- a/pointmatcher/DataPointsFilters/Elipsoids.cpp
+++ b/pointmatcher/DataPointsFilters/Elipsoids.cpp
@@ -36,8 +36,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "utils.h"
 // Eigenvalues
-#include "Eigen/QR"
-#include "Eigen/Eigenvalues"
+#include "eigen3/Eigen/QR"
+#include "eigen3/Eigen/Eigenvalues"
 
 #include "PointMatcherPrivate.h"
 
diff --git a/pointmatcher/DataPointsFilters/Gestalt.cpp b/pointmatcher/DataPointsFilters/Gestalt.cpp
index f427f3e..e597564 100644
--- a/pointmatcher/DataPointsFilters/Gestalt.cpp
+++ b/pointmatcher/DataPointsFilters/Gestalt.cpp
@@ -39,8 +39,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <cmath>
 
 // Eigenvalues
-#include "Eigen/QR"
-#include "Eigen/Eigenvalues"
+#include "eigen3/Eigen/QR"
+#include "eigen3/Eigen/Eigenvalues"
 
 #include "PointMatcherPrivate.h"
 
diff --git a/pointmatcher/DataPointsFilters/SamplingSurfaceNormal.cpp b/pointmatcher/DataPointsFilters/SamplingSurfaceNormal.cpp
index 998f29e..21683cd 100644
--- a/pointmatcher/DataPointsFilters/SamplingSurfaceNormal.cpp
+++ b/pointmatcher/DataPointsFilters/SamplingSurfaceNormal.cpp
@@ -37,8 +37,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "utils.h"
 
 // Eigenvalues
-#include "Eigen/QR"
-#include "Eigen/Eigenvalues"
+#include "eigen3/Eigen/QR"
+#include "eigen3/Eigen/Eigenvalues"
 
 #include "PointMatcherPrivate.h"
 
diff --git a/pointmatcher/DataPointsFilters/SurfaceNormal.cpp b/pointmatcher/DataPointsFilters/SurfaceNormal.cpp
index 43b972f..fb143cf 100644
--- a/pointmatcher/DataPointsFilters/SurfaceNormal.cpp
+++ b/pointmatcher/DataPointsFilters/SurfaceNormal.cpp
@@ -35,8 +35,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "SurfaceNormal.h"
 
 // Eigenvalues
-#include "Eigen/QR"
-#include "Eigen/Eigenvalues"
+#include "eigen3/Eigen/QR"
+#include "eigen3/Eigen/Eigenvalues"
 
 #include "PointMatcherPrivate.h"
 #include "IO.h"
diff --git a/pointmatcher/ErrorMinimizers/PointToPlane.cpp b/pointmatcher/ErrorMinimizers/PointToPlane.cpp
index 41f4589..e357459 100644
--- a/pointmatcher/ErrorMinimizers/PointToPlane.cpp
+++ b/pointmatcher/ErrorMinimizers/PointToPlane.cpp
@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <iostream>
 
-#include "Eigen/SVD"
+#include "eigen3/Eigen/SVD"
 
 #include "ErrorMinimizersImpl.h"
 #include "PointMatcherPrivate.h"
diff --git a/pointmatcher/ErrorMinimizers/PointToPlaneWithCov.cpp b/pointmatcher/ErrorMinimizers/PointToPlaneWithCov.cpp
index be4f322..ed3808d 100644
--- a/pointmatcher/ErrorMinimizers/PointToPlaneWithCov.cpp
+++ b/pointmatcher/ErrorMinimizers/PointToPlaneWithCov.cpp
@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <iostream>
 
-#include "Eigen/SVD"
+#include "eigen3/Eigen/SVD"
 
 #include "ErrorMinimizersImpl.h"
 #include "PointMatcherPrivate.h"
diff --git a/pointmatcher/ErrorMinimizers/PointToPoint.cpp b/pointmatcher/ErrorMinimizers/PointToPoint.cpp
index c4a01ae..9552596 100644
--- a/pointmatcher/ErrorMinimizers/PointToPoint.cpp
+++ b/pointmatcher/ErrorMinimizers/PointToPoint.cpp
@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "ErrorMinimizersImpl.h"
 #include "PointMatcherPrivate.h"
-#include "Eigen/SVD"
+#include "eigen3/Eigen/SVD"
 
 using namespace Eigen;
 
diff --git a/pointmatcher/ErrorMinimizers/PointToPointSimilarity.cpp b/pointmatcher/ErrorMinimizers/PointToPointSimilarity.cpp
index f009bbc..67f87d3 100644
--- a/pointmatcher/ErrorMinimizers/PointToPointSimilarity.cpp
+++ b/pointmatcher/ErrorMinimizers/PointToPointSimilarity.cpp
@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "ErrorMinimizersImpl.h"
 #include "PointMatcherPrivate.h"
-#include "Eigen/SVD"
+#include "eigen3/Eigen/SVD"
 
 using namespace Eigen;
 
diff --git a/pointmatcher/ErrorMinimizers/PointToPointWithCov.cpp b/pointmatcher/ErrorMinimizers/PointToPointWithCov.cpp
index d133228..5b473c9 100644
--- a/pointmatcher/ErrorMinimizers/PointToPointWithCov.cpp
+++ b/pointmatcher/ErrorMinimizers/PointToPointWithCov.cpp
@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "ErrorMinimizersImpl.h"
 #include "PointMatcherPrivate.h"
-#include "Eigen/SVD"
+#include "eigen3/Eigen/SVD"
 
 using namespace Eigen;
 
@@ -151,4 +151,4 @@ typename PointToPointWithCovErrorMinimizer<T>::Matrix PointToPointWithCovErrorMi
 }
 
 template struct PointToPointWithCovErrorMinimizer<float>;
-template struct PointToPointWithCovErrorMinimizer<double>;
\ No newline at end of file
+template struct PointToPointWithCovErrorMinimizer<double>;
diff --git a/pointmatcher/PointMatcher.h b/pointmatcher/PointMatcher.h
index 7ab94f8..09d28a9 100644
--- a/pointmatcher/PointMatcher.h
+++ b/pointmatcher/PointMatcher.h
@@ -44,10 +44,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 //TODO: investigate if that causes more problems down the road
 #define EIGEN_NO_DEBUG
 
-#include "Eigen/StdVector"
-#include "Eigen/Core"
-#include "Eigen/Geometry"
-
+#include "eigen3/Eigen/Core"
+#include "eigen3/Eigen/StdVector"
+#include "eigen3/Eigen/Geometry"
 
 #include <boost/thread/mutex.hpp>