diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 1477cdc248844ab181e44194a77c04573381a155..dbf139b13a33b4b14ec3125cca2621f6c9e47381 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,4 +1,4 @@
-image: segaleran/ceres
+image: labrobotica/ceres:1.14
 
 before_script:
   - ls
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f9c69b34a4912490c7128a5c9d4f302ddde88c54..d2dea5997d58c485a4c5b44ddddc16368aeeef84 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -116,12 +116,16 @@ ENDIF(BUILD_DEMOS OR BUILD_TESTS)
 
 #find dependencies.
 
-FIND_PACKAGE(Eigen3 3.2.92 REQUIRED)
 
 FIND_PACKAGE(Threads REQUIRED)
 
 FIND_PACKAGE(Ceres REQUIRED) #Ceres is not required
 
+FIND_PACKAGE(Eigen3 3.3 REQUIRED)
+if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3)
+  message(FATAL_ERROR "Wolf requires Eigen >= 3.3. Found Eigen ${EIGEN3_VERSION_STRING}")
+endif()
+
 # YAML with yaml-cpp
 FIND_PACKAGE(YamlCpp REQUIRED)
 
diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake
index 7556468eb89689ea49f9ab98c6d511c9efee0db3..74ede89df7d20ffdfe00d7cd669bce317fc501a9 100644
--- a/cmake_modules/wolfConfig.cmake
+++ b/cmake_modules/wolfConfig.cmake
@@ -91,6 +91,9 @@ list(APPEND wolf_LIBRARIES ${YAMLCPP_LIBRARY})
 if(NOT Eigen3_FOUND)
   FIND_PACKAGE(Eigen3 REQUIRED)
 endif()
+if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3)
+  message(FATAL_ERROR "Found Eigen ${EIGEN3_VERSION_STRING}. The minimum version required is Eigen 3.3")
+endif()
 list(APPEND wolf_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
 
 SET(CMAKE_MODULE_PATH ${BACKUP_MODULE_PATH})