diff --git a/demos/solver/test_SPQR.cpp b/demos/solver/test_SPQR.cpp
index b5f159c731741dabe4ed00bbe8eaa0e7968be7f3..56df88821b3441b9e1526f713741ffbfc49acedc 100644
--- a/demos/solver/test_SPQR.cpp
+++ b/demos/solver/test_SPQR.cpp
@@ -27,8 +27,8 @@
  */
 
 #include <iostream>
-#include <eigen3/Eigen/SPQRSupport>
-#include <eigen3/Eigen/CholmodSupport>
+#include <Eigen/SPQRSupport>
+#include <Eigen/CholmodSupport>
 #include "SuiteSparseQR.hpp"
 
 using namespace Eigen;
diff --git a/demos/solver/test_ccolamd.cpp b/demos/solver/test_ccolamd.cpp
index 98f496f26b5de691a38384d42b3349d62fc8b20e..126fa7f869f203188a3c589bf68fced8f4e593ff 100644
--- a/demos/solver/test_ccolamd.cpp
+++ b/demos/solver/test_ccolamd.cpp
@@ -43,9 +43,9 @@
 #include "solver/ccolamd_ordering.h"
 
 // eigen includes
-#include <eigen3/Eigen/OrderingMethods>
-#include <eigen3/Eigen/CholmodSupport>
-#include <eigen3/Eigen/SparseLU>
+#include <Eigen/OrderingMethods>
+#include <Eigen/CholmodSupport>
+#include <Eigen/SparseLU>
 
 using namespace Eigen;
 using namespace wolf;
diff --git a/demos/solver/test_ccolamd_blocks.cpp b/demos/solver/test_ccolamd_blocks.cpp
index 14bb174286235f063a375cca4e28f1e4dfeca537..2d82633432d7620f108b8ef8532c4d08f0a17b9f 100644
--- a/demos/solver/test_ccolamd_blocks.cpp
+++ b/demos/solver/test_ccolamd_blocks.cpp
@@ -37,9 +37,9 @@
 #include <queue>
 
 // eigen includes
-#include <eigen3/Eigen/OrderingMethods>
-#include <eigen3/Eigen/CholmodSupport>
-#include <eigen3/Eigen/SparseLU>
+#include <Eigen/OrderingMethods>
+#include <Eigen/CholmodSupport>
+#include <Eigen/SparseLU>
 
 // ccolamd
 #include "solver/ccolamd_ordering.h"
diff --git a/demos/solver/test_iQR.cpp b/demos/solver/test_iQR.cpp
index 53a37cef1a62ec1ffb281a6fdbd741fc73cb59f8..ba4ae194a00c6e9c8a78affc1a54fc02b1f52bb1 100644
--- a/demos/solver/test_iQR.cpp
+++ b/demos/solver/test_iQR.cpp
@@ -44,9 +44,9 @@
 #include <queue>
 
 // eigen includes
-#include <eigen3/Eigen/OrderingMethods>
-#include <eigen3/Eigen/SparseQR>
-#include <eigen3/Eigen/SPQRSupport>
+#include <Eigen/OrderingMethods>
+#include <Eigen/SparseQR>
+#include <Eigen/SPQRSupport>
 
 // ccolamd
 #include "solver/ccolamd_ordering.h"
diff --git a/demos/solver/test_iQR_wolf.cpp b/demos/solver/test_iQR_wolf.cpp
index a8df237237669b54aa837d32f35bf8c156fa33eb..4ffc4a0bffada8742a20dd9d00b220c7544be156 100644
--- a/demos/solver/test_iQR_wolf.cpp
+++ b/demos/solver/test_iQR_wolf.cpp
@@ -38,8 +38,8 @@
 #include <queue>
 
 // eigen includes
-#include <eigen3/Eigen/OrderingMethods>
-#include <eigen3/Eigen/SparseQR>
+#include <Eigen/OrderingMethods>
+#include <Eigen/SparseQR>
 #include <Eigen/SPQRSupport>
 
 // ccolamd
diff --git a/demos/solver/test_incremental_ccolamd_blocks.cpp b/demos/solver/test_incremental_ccolamd_blocks.cpp
index 740407a9a560f0efdbdb8267ee7925c22fbf12bf..f0eabf66cde8d920265f3af6a5b4e8a994fa5858 100644
--- a/demos/solver/test_incremental_ccolamd_blocks.cpp
+++ b/demos/solver/test_incremental_ccolamd_blocks.cpp
@@ -37,9 +37,9 @@
 #include <queue>
 
 // eigen includes
-#include <eigen3/Eigen/OrderingMethods>
-#include <eigen3/Eigen/CholmodSupport>
-#include <eigen3/Eigen/SparseLU>
+#include <Eigen/OrderingMethods>
+#include <Eigen/CholmodSupport>
+#include <Eigen/SparseLU>
 
 // ccolamd
 #include "solver/ccolamd_ordering.h"
diff --git a/demos/solver/test_permutations.cpp b/demos/solver/test_permutations.cpp
index 0765d8ae77996a72b027a62380804243aa0aedfa..6724ea83f167bbacbfceed245a01b7c5cfdeea60 100644
--- a/demos/solver/test_permutations.cpp
+++ b/demos/solver/test_permutations.cpp
@@ -37,7 +37,7 @@
 #include <queue>
 
 // eigen includes
-#include <eigen3/Eigen/OrderingMethods>
+#include <Eigen/OrderingMethods>
 
 using namespace Eigen;
 
diff --git a/include/core/ceres_wrapper/sparse_utils.h b/include/core/ceres_wrapper/sparse_utils.h
index e0d70f26f95c2d5dfd10131e48103586c52fd20d..132a4aba706160bb30e1f3099f3b546dbe2f4bda 100644
--- a/include/core/ceres_wrapper/sparse_utils.h
+++ b/include/core/ceres_wrapper/sparse_utils.h
@@ -30,7 +30,7 @@
 #define SPARSE_UTILS_H_
 
 // eigen includes
-//#include <eigen3/Eigen/Sparse>
+//#include <Eigen/Sparse>
 
 namespace wolf
 {
diff --git a/include/core/solver_suitesparse/ccolamd_ordering.h b/include/core/solver_suitesparse/ccolamd_ordering.h
index 4683373559f7df440b834c01c7552628e4f4b7b1..38ec767eff5d4d4e21afee0050f26b840b769c76 100644
--- a/include/core/solver_suitesparse/ccolamd_ordering.h
+++ b/include/core/solver_suitesparse/ccolamd_ordering.h
@@ -33,9 +33,9 @@
 #include <iostream>
 
 // Eigen includes
-#include <eigen3/Eigen/OrderingMethods>
-#include <eigen3/Eigen/CholmodSupport>
-#include <eigen3/Eigen/SparseLU>
+#include <Eigen/OrderingMethods>
+#include <Eigen/CholmodSupport>
+#include <Eigen/SparseLU>
 
 // ccolamd
 #include "ccolamd.h"
diff --git a/include/core/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
index 83c392894a0a63b06c9b86a8d8b31907a2803bf9..c5fc858227b6da93dbcfe8424a1bed48319f5228 100644
--- a/include/core/solver_suitesparse/qr_solver.h
+++ b/include/core/solver_suitesparse/qr_solver.h
@@ -46,8 +46,8 @@
 #include "solver/cost_function_sparse.h"
 
 // eigen includes
-#include <eigen3/Eigen/OrderingMethods>
-#include <eigen3/Eigen/SparseQR>
+#include <Eigen/OrderingMethods>
+#include <Eigen/SparseQR>
 #include <Eigen/StdVector>
 #include "core/factor/factor_pose_2d.h"
 
diff --git a/include/core/solver_suitesparse/sparse_utils.h b/include/core/solver_suitesparse/sparse_utils.h
index 393a2fb275507aa1e9b5b6c67172a6b589be4f9f..e9bc9f76e8a0de8a88f4b7c6f3a4fe202e2398a0 100644
--- a/include/core/solver_suitesparse/sparse_utils.h
+++ b/include/core/solver_suitesparse/sparse_utils.h
@@ -30,7 +30,7 @@
 #define SPARSE_UTILS_H_
 
 // eigen includes
-#include <eigen3/Eigen/Sparse>
+#include <Eigen/Sparse>
 
 namespace wolf
 {
diff --git a/include/core/utils/converter.h b/include/core/utils/converter.h
index 1c53906c6c624ef4e88ac95785fa1871b9b5c122..12a8eee4da7b95af04fc475ac219310f8cecfd20 100644
--- a/include/core/utils/converter.h
+++ b/include/core/utils/converter.h
@@ -28,8 +28,8 @@
 #include "core/state_block/state_composite.h"
 
 // Eigen
-#include <eigen3/Eigen/Dense>
-#include <eigen3/Eigen/Geometry>
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
 
 // std
 #include <regex>
diff --git a/include/core/yaml/yaml_conversion.h b/include/core/yaml/yaml_conversion.h
index 76991419a0ec370174055479cbb9dfdb910e0356..8ae7e0384e8aae80cdffc161e4c48e74525df36b 100644
--- a/include/core/yaml/yaml_conversion.h
+++ b/include/core/yaml/yaml_conversion.h
@@ -33,8 +33,8 @@
 #include <yaml-cpp/yaml.h>
 
 // Eigen
-#include <eigen3/Eigen/Dense>
-#include <eigen3/Eigen/Geometry>
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
 
 // stl
 #include <iostream>
diff --git a/src/utils/converter_utils.cpp b/src/utils/converter_utils.cpp
index f77008e1bb528118d955789e15a914d329d804bc..b5412684689c739d9b5824c9ff2866a07d43e48b 100644
--- a/src/utils/converter_utils.cpp
+++ b/src/utils/converter_utils.cpp
@@ -23,8 +23,8 @@
 
 // Eigen
 #include <array>
-#include <eigen3/Eigen/Dense>
-#include <eigen3/Eigen/Geometry>
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
 
 // STD
 #include <iostream>
diff --git a/test/gtest_yaml_conversions.cpp b/test/gtest_yaml_conversions.cpp
index 21a4f89781b017807033f8c33d59dff716ec68ac..f558c5764668e4833274f0b3daba34e40406a176 100644
--- a/test/gtest_yaml_conversions.cpp
+++ b/test/gtest_yaml_conversions.cpp
@@ -30,7 +30,7 @@
 #include "core/utils/utils_gtest.h"
 #include "core/yaml/yaml_conversion.h"
 #include <yaml-cpp/yaml.h>
-#include <eigen3/Eigen/Dense>
+#include <Eigen/Dense>
 #include <iostream>
 //#include <fstream>