diff --git a/tools/EpipolarGeometry/CMakeLists.txt b/tools/EpipolarGeometry/CMakeLists.txt
index 9b74ea5b..e6b63960 100644
--- a/tools/EpipolarGeometry/CMakeLists.txt
+++ b/tools/EpipolarGeometry/CMakeLists.txt
@@ -7,14 +7,12 @@ SET(INCLUDE_DIRS
 	${PROJECT_SOURCE_DIR}/utilite/include
 	${PROJECT_SOURCE_DIR}/corelib/include
 	${PROJECT_SOURCE_DIR}/guilib/include
-    ${UTILITE_INCLUDE_DIRS}
     ${OpenCV_INCLUDE_DIRS}
 )
 
 INCLUDE(${QT_USE_FILE})
 
 SET(LIBRARIES
-    ${UTILITE_LIBRARIES}
 	${OpenCV_LIBRARIES}
 	${QT_LIBRARIES} 
 )
diff --git a/utilite/include/rtabmap/utilite/UtiLite.h b/utilite/include/rtabmap/utilite/UtiLite.h
index eb2d47b4..9f8b8a61 100644
--- a/utilite/include/rtabmap/utilite/UtiLite.h
+++ b/utilite/include/rtabmap/utilite/UtiLite.h
@@ -234,95 +234,6 @@
  * The variable URESOURCEGENERATOR_EXEC is set when FIND_PACKAGE(UtiLite) is done, you would need to add \ref findUtilitePage "FindUtiLite.cmake".
  */
 
-/*! \page findUtilitePage FindUtilite.cmake
- * UtiLite provides a generated \ref findUtilitePage "FindUtiLite.cmake" for easy linking with the library. Here
- * is an example but you should take the one in the build folder of the library.
- * @code
-# - Find UTILITE
-# This module finds an installed UTILITE package.
-#
-# It sets the following variables:
-#  UTILITE_FOUND              - Set to false, or undefined, if UTILITE isn't found.
-#  UTILITE_INCLUDE_DIRS        - The UTILITE include directory.
-#  UTILITE_LIBRARIES            - The UTILITE library to link against.
-#  URESOURCEGENERATOR_EXEC    - The resource generator tool executable
-#
-#
-
-SET(UTILITE_VERSION_REQUIRED 0.2.13)
-
-SET(UTILITE_ROOT)
-
-# Add ROS UtiLite directory if ROS is installed
-FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)
-IF(ROSPACK_EXEC)
-	EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find utilite
-			   	    OUTPUT_VARIABLE UTILITE_ROS_PATH
-					OUTPUT_STRIP_TRAILING_WHITESPACE
-					WORKING_DIRECTORY "./"
-	)
-	IF(UTILITE_ROS_PATH)
-	    MESSAGE(STATUS "Found UtiLite ROS pkg : ${UTILITE_ROS_PATH}")
-	    SET(UTILITE_ROOT
-	        ${UTILITE_ROS_PATH}/utilite
-	        ${UTILITE_ROOT}
-	    )
-	ENDIF(UTILITE_ROS_PATH)
-ENDIF(ROSPACK_EXEC)
-
-FIND_PROGRAM(URESOURCEGENERATOR_EXEC NAME uresourcegenerator PATHS ${UTILITE_ROOT}/bin)
-IF(URESOURCEGENERATOR_EXEC)
-	EXECUTE_PROCESS(COMMAND ${URESOURCEGENERATOR_EXEC} -v
-			   	    OUTPUT_VARIABLE UTILITE_VERSION
-					OUTPUT_STRIP_TRAILING_WHITESPACE
-					WORKING_DIRECTORY "./"
-	)
-
-	IF(UTILITE_VERSION VERSION_LESS UTILITE_VERSION_REQUIRED)
-	    IF(UtiLite_FIND_REQUIRED)
-	    	MESSAGE(FATAL_ERROR "Your version of UtiLite is too old (${UTILITE_VERSION}), UtiLite ${UTILITE_VERSION_REQUIRED} is required.")
-	    ENDIF(UtiLite_FIND_REQUIRED)
-	ENDIF(UTILITE_VERSION VERSION_LESS UTILITE_VERSION_REQUIRED)
-
-	IF(WIN32)
-		FIND_PATH(UTILITE_INCLUDE_DIRS
-				UEventsManager.h
-				PATH_SUFFIXES "../include")
-
-		FIND_LIBRARY(UTILITE_LIBRARIES NAMES utilite
-			 	PATH_SUFFIXES "../lib")
-
-	ELSE()
-		FIND_PATH(UTILITE_INCLUDE_DIRS
-				UEventsManager.h
-				PATHS ${UTILITE_ROOT}/include)
-
-		FIND_LIBRARY(UTILITE_LIBRARIES
-				NAMES utilite
-				PATHS ${UTILITE_ROOT}/lib)
-	ENDIF()
-
-	IF (UTILITE_INCLUDE_DIRS AND UTILITE_LIBRARIES)
-	   SET(UTILITE_FOUND TRUE)
-	ENDIF (UTILITE_INCLUDE_DIRS AND UTILITE_LIBRARIES)
-ENDIF(URESOURCEGENERATOR_EXEC)
-
-IF (UTILITE_FOUND)
-   # show which UTILITE was found only if not quiet
-   IF (NOT UtiLite_FIND_QUIETLY)
-      MESSAGE(STATUS "Found UtiLite ${UTILITE_VERSION}")
-   ENDIF (NOT UtiLite_FIND_QUIETLY)
-ELSE ()
-   # fatal error if UTILITE is required but not found
-   IF (UtiLite_FIND_REQUIRED)
-      MESSAGE(FATAL_ERROR "Could not find UtiLite. Verify your PATH if it is already installed or download it at http://utilite.googlecode.com")
-   ENDIF (UtiLite_FIND_REQUIRED)
-ENDIF ()
-
- * @endcode
- *
- */
-
 #include "rtabmap/utilite/UStl.h"
 #include "rtabmap/utilite/UConversion.h"
 #include "rtabmap/utilite/UDirectory.h"