diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e9de0c..6a031c7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -103,16 +103,7 @@ endif ()
 include(GNUInstallDirs)
 
 # eigen 2 or 3
-find_path(EIGEN_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-  HINTS  ENV EIGEN3_INC_DIR
-         ENV EIGEN3_DIR
-  PATHS  Eigen/Core
-         /usr/local/include
-         /usr/include
-         /opt/local/include
-  PATH_SUFFIXES include eigen3 eigen2 eigen
-  DOC "Directory containing the Eigen3 header files"
-)
+find_package(Eigen3 REQUIRED)
 
 # optionally, opencl
 # OpenCL disabled as its code is not up-to-date with API
@@ -165,10 +156,10 @@ endif ()
 set_target_properties(${LIB_NAME} PROPERTIES VERSION "${PROJECT_VERSION}" SOVERSION 1)
 
 target_include_directories(${LIB_NAME} PUBLIC
-	${EIGEN_INCLUDE_DIR}
 	$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
   )
+target_link_libraries(${LIB_NAME} PUBLIC Eigen3::Eigen)
 
 # openmp
 set(USE_OPEN_MP TRUE CACHE BOOL "Set to FALSE to not use OpenMP")
diff --git a/libnaboConfig.cmake.in b/libnaboConfig.cmake.in
index 0de01c3..8bb8194 100644
--- a/libnaboConfig.cmake.in
+++ b/libnaboConfig.cmake.in
@@ -1,5 +1,7 @@
 # - Config file for the libnabo package
 
+find_dependency(Eigen3 CONFIG)
+
 include(${CMAKE_CURRENT_LIST_DIR}/libnabo-targets.cmake)
 
 # This causes catkin_simple to link against these libraries
diff --git a/nabo/kdtree_cpu.cpp b/nabo/kdtree_cpu.cpp
index cb1f8d1..52a444f 100644
--- a/nabo/kdtree_cpu.cpp
+++ b/nabo/kdtree_cpu.cpp
@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <queue>
 #include <algorithm>
 #include <utility>
+#include <cassert>
 #ifdef HAVE_OPENMP
 #include <omp.h>
 #endif