diff --git a/CMakeLists.txt b/CMakeLists.txt
index f1803070..1159d0bd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -104,7 +104,7 @@ SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
 SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) 
 
 # the RPATH to be used when installing
-SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}")
 
 # add the automatically determined parts of the RPATH
 # which point to directories outside the build tree to the install RPATH