diff --git a/CMakeLists.txt b/CMakeLists.txt
index af93f877..ba75b015 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,13 +1,11 @@
 # Top-Level CmakeLists.txt
-IF(APPLE OR WIN32)
-  # BundleUtilities.cmake from 2.8.3 required on Mac and ?Windows?
-  cmake_minimum_required(VERSION 2.8.3)
-ELSE()
-  cmake_minimum_required(VERSION 2.8.0)
-ENDIF()
+# For GNUInstallDirs
+cmake_minimum_required(VERSION 2.8.5)
 PROJECT( RTABMap )
 SET(PROJECT_PREFIX rtabmap)
 
+INCLUDE(GNUInstallDirs)
+
 ####### local cmake modules #######
 SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 
@@ -94,9 +92,6 @@ SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
 ####### INSTALL DIR #######
-# Offer the user the choice of overriding the installation directories
-set(INSTALL_LIB_DIR lib CACHE PATH "Installation directory for libraries")
-set(INSTALL_BIN_DIR bin CACHE PATH "Installation directory for executables")
 set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION} CACHE PATH
   "Installation directory for header files")
 if(WIN32 AND NOT CYGWIN)
@@ -191,7 +186,7 @@ ADD_CUSTOM_TARGET(uninstall
 ####
 # Create the RTABMapConfig.cmake and RTABMapConfigVersion files
 file(RELATIVE_PATH REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
-file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
+file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
    
 # ... for the build tree
 set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/corelib/include" 
diff --git a/app/src/CMakeLists.txt b/app/src/CMakeLists.txt
index e9bc4894..3e9c5df9 100644
--- a/app/src/CMakeLists.txt
+++ b/app/src/CMakeLists.txt
@@ -83,7 +83,7 @@ ENDIF()
 # Installation stuff
 #--------------------------- 
 INSTALL(TARGETS rtabmap
-        RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
         BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
       
 IF(APPLE AND BUILD_AS_BUNDLE)
diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt
index ad37508d..ff5c55b2 100644
--- a/corelib/src/CMakeLists.txt
+++ b/corelib/src/CMakeLists.txt
@@ -126,9 +126,9 @@ SET_TARGET_PROPERTIES(
 )
 
 INSTALL(TARGETS rtabmap_core
-        RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
-        LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel
-        ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel)
+        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+        LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel
+        ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel)
 		
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/ 
 		DESTINATION "${INSTALL_INCLUDE_DIR}"
diff --git a/guilib/src/CMakeLists.txt b/guilib/src/CMakeLists.txt
index 9b883afb..23ff8c11 100644
--- a/guilib/src/CMakeLists.txt
+++ b/guilib/src/CMakeLists.txt
@@ -122,8 +122,8 @@ SET_TARGET_PROPERTIES(
 )
 
 INSTALL(TARGETS rtabmap_gui
-        RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
-        LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel
-        ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel)
+        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+        LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel
+        ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel)
         
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/ DESTINATION "${INSTALL_INCLUDE_DIR}" COMPONENT devel FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE)
diff --git a/tools/Calibration/CMakeLists.txt b/tools/Calibration/CMakeLists.txt
index f2596f5f..b9f7b894 100644
--- a/tools/Calibration/CMakeLists.txt
+++ b/tools/Calibration/CMakeLists.txt
@@ -25,5 +25,5 @@ SET_TARGET_PROPERTIES( calibration
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-calibration)
   
 INSTALL(TARGETS calibration
-		RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
 		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
\ No newline at end of file
diff --git a/tools/CameraRGBD/CMakeLists.txt b/tools/CameraRGBD/CMakeLists.txt
index 1938614c..bd10922d 100644
--- a/tools/CameraRGBD/CMakeLists.txt
+++ b/tools/CameraRGBD/CMakeLists.txt
@@ -21,5 +21,5 @@ SET_TARGET_PROPERTIES( rgbd_camera
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-rgbd_camera)
   
 INSTALL(TARGETS rgbd_camera
-		RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
 		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
\ No newline at end of file
diff --git a/tools/ConsoleApp/CMakeLists.txt b/tools/ConsoleApp/CMakeLists.txt
index ce17c656..32d4387b 100644
--- a/tools/ConsoleApp/CMakeLists.txt
+++ b/tools/ConsoleApp/CMakeLists.txt
@@ -31,6 +31,6 @@ SET_TARGET_PROPERTIES( consoleApp
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-console)
   
 INSTALL(TARGETS consoleApp
-		RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
 		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
 
diff --git a/tools/DataRecorder/CMakeLists.txt b/tools/DataRecorder/CMakeLists.txt
index bcc7b679..7afddebe 100644
--- a/tools/DataRecorder/CMakeLists.txt
+++ b/tools/DataRecorder/CMakeLists.txt
@@ -33,5 +33,5 @@ SET_TARGET_PROPERTIES( dataRecorder
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-dataRecorder)
 
 INSTALL(TARGETS dataRecorder
-		RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
 		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
diff --git a/tools/DatabaseViewer/CMakeLists.txt b/tools/DatabaseViewer/CMakeLists.txt
index d19b8c22..939de625 100644
--- a/tools/DatabaseViewer/CMakeLists.txt
+++ b/tools/DatabaseViewer/CMakeLists.txt
@@ -35,5 +35,5 @@ SET_TARGET_PROPERTIES( databaseViewer
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-databaseViewer)
 
 INSTALL(TARGETS databaseViewer
-		RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
 		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
diff --git a/tools/ExtractObject/CMakeLists.txt b/tools/ExtractObject/CMakeLists.txt
index d5cd0fd1..e57bea58 100644
--- a/tools/ExtractObject/CMakeLists.txt
+++ b/tools/ExtractObject/CMakeLists.txt
@@ -26,5 +26,5 @@ SET_TARGET_PROPERTIES( extractObject
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-extractObject)
 
 INSTALL(TARGETS extractObject
-		RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
 		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
\ No newline at end of file
diff --git a/tools/OdometryViewer/CMakeLists.txt b/tools/OdometryViewer/CMakeLists.txt
index 445ddccc..350dfe46 100644
--- a/tools/OdometryViewer/CMakeLists.txt
+++ b/tools/OdometryViewer/CMakeLists.txt
@@ -33,6 +33,6 @@ SET_TARGET_PROPERTIES( odometryViewer
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-odometryViewer)
   
 INSTALL(TARGETS odometryViewer
-		RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
 		BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
 
diff --git a/utilite/src/CMakeLists.txt b/utilite/src/CMakeLists.txt
index 3a69f9b8..819314eb 100644
--- a/utilite/src/CMakeLists.txt
+++ b/utilite/src/CMakeLists.txt
@@ -39,9 +39,9 @@ SET_TARGET_PROPERTIES(
 )
 
 INSTALL(TARGETS rtabmap_utilite
-        RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
-        LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel
-        ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel)
+        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
+        LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel
+        ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel)
 		
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/ DESTINATION "${INSTALL_INCLUDE_DIR}" COMPONENT devel FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE)