diff --git a/.gitignore b/.gitignore
index 4dab7db9..2a7e37b3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 build*
+install*
 *.nvp
 cupoch_config.h
 shader.h
diff --git a/mkdocs.yml b/mkdocs.yml
index de3a2f74..a3debf19 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -1,4 +1,4 @@
-site_name: Cupoch - CUDA-based 3D processing library
+site_name: Cupoch - Robotics with GPU computing
 
 theme:
   name: 'material'
diff --git a/third_party/CMakeLists.txt b/third_party/CMakeLists.txt
index 5f9b5225..be55ce24 100644
--- a/third_party/CMakeLists.txt
+++ b/third_party/CMakeLists.txt
@@ -335,4 +335,30 @@ list(APPEND 3RDPARTY_LIBRARIES
 )
 
 set(3RDPARTY_INCLUDE_DIRS ${3RDPARTY_INCLUDE_DIRS} PARENT_SCOPE)
-set(3RDPARTY_LIBRARIES ${3RDPARTY_LIBRARIES} PARENT_SCOPE)
\ No newline at end of file
+set(3RDPARTY_LIBRARIES ${3RDPARTY_LIBRARIES} PARENT_SCOPE)
+
+install(TARGETS ${FLANN_LIBRARIES}
+                ${GLEW_LIBRARIES}
+                ${glfw_LIBRARIES}
+                ${JPEG_TURBO_LIBRARIES}
+                ${PNG_LIBRARIES}
+                ${liblzf_LIBRARIES}
+                ${rply_LIBRARIES}
+                ${JSONCPP_LIBRARIES}
+                ${stdgpu_LIBRARIES}
+                ${SGM_LIBRARIES}
+                ${tinyobjloader_LIBRARIES}
+                ${googletest_LIBRARIES}
+                ${imgui_LIBRARIES}
+                ${urdfdom_LIBRARIES}
+    EXPORT ${PROJECT_NAME}3rdTargets
+    RUNTIME DESTINATION ${CUPOCH_INSTALL_BIN_DIR}
+    LIBRARY DESTINATION ${CUPOCH_INSTALL_LIB_DIR}
+    ARCHIVE DESTINATION ${CUPOCH_INSTALL_LIB_DIR}
+)
+
+install(DIRECTORY ${rmm_INCLUDE_DIRS}
+                ${stdgpu_INCLUDE_DIRS}
+                ${SGM_INCLUDE_DIRS}
+    DESTINATION ${CUPOCH_INSTALL_INCLUDE_DIR}/../
+)
\ No newline at end of file
diff --git a/third_party/eigen b/third_party/eigen
index 12fd3dd6..3147391d 160000
--- a/third_party/eigen
+++ b/third_party/eigen
@@ -1 +1 @@
-Subproject commit 12fd3dd655e37ba26e7ab236d32163e0aa35da39
+Subproject commit 3147391d946bb4b6c68edd901f2add6ac1f31f8c