diff --git a/CMakeLists.txt b/CMakeLists.txt
index 426ab6bb12ddc39ab2a0e65a0fd275030ee3e093..b41d4ee0da527fd02ae7564d7e1935d8dc237110 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(catkin REQUIRED COMPONENTS iri_base_algorithm nav_msgs iri_blob_det
 # ******************************************************************** 
 # find_package(<dependency> REQUIRED)
 find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 # ******************************************************************** 
 #           Add topic, service and action definition here
@@ -78,6 +79,7 @@ catkin_package(
 include_directories(include)
 include_directories(${catkin_INCLUDE_DIRS})
 include_directories(${OpenCV_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
 # include_directories(${<dependency>_INCLUDE_DIR})
 
 ## Declare a cpp library