diff --git a/CMakeLists.txt b/CMakeLists.txt
index d363f0735e..070320abec 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -49,26 +49,31 @@ set(CMAKE_CXX_STANDARD "23" CMAKE_CXX_STANDARD_REQUIRED ON CMAKE_CXX_EXTENSIONS
 
 include(CTest)
 include(FetchContent)
+include(GNUInstallDirs)
 
 FetchContent_Declare(
   eigen
   URL "https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.bz2"
-  URL_HASH MD5=132dde48fe2b563211675626d29f1707)
+  URL_HASH MD5=132dde48fe2b563211675626d29f1707
+  FIND_PACKAGE_ARGS NAMES Eigen3 3.4 REQUIRED NO_MODULE)
 
 FetchContent_Declare(
   fmt
   URL "https://github.com/fmtlib/fmt/archive/refs/tags/9.1.0.tar.gz"
-  URL_HASH MD5=21fac48cae8f3b4a5783ae06b443973a)
+  URL_HASH MD5=21fac48cae8f3b4a5783ae06b443973a
+  FIND_PACKAGE_ARGS NAMES FMT)
 
 FetchContent_Declare(
   google_benchmark
   URL "https://github.com/google/benchmark/archive/refs/tags/v1.6.2.tar.gz"
-  URL_HASH MD5=14d14849e075af116143a161bc3b927b)
+  URL_HASH MD5=14d14849e075af116143a161bc3b927b
+  FIND_PACKAGE_ARGS NAMES benchmark)
 
 FetchContent_Declare(
   google_test
   URL "https://github.com/google/googletest/archive/refs/tags/release-1.12.1.tar.gz"
-  URL_HASH MD5=e82199374acdfda3f425331028eb4e2a)
+  URL_HASH MD5=e82199374acdfda3f425331028eb4e2a
+  FIND_PACKAGE_ARGS NAMES GTest)
 
 FetchContent_MakeAvailable(eigen fmt google_test google_benchmark)
 
@@ -78,3 +83,6 @@ add_subdirectory(sample)
 add_subdirectory(source)
 add_subdirectory(support)
 add_subdirectory(test)
+
+install(DIRECTORY "include/fcarouge"
+        DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}")
diff --git a/INSTALL.md b/INSTALL.md
index 1f94fc6f8f..aad3e8889a 100644
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -21,7 +21,7 @@ Build and run the tests and samples on all platforms:
 git clone --depth 1 https://github.com/FrancoisCarouge/Kalman.git "kalman"
 cmake -S "kalman" -B "build" -G "Ninja Multi-Config"
 cmake --build "build" --config "Debug" --parallel
-ctest --test-dir "build" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel
+ctest --test-dir "build" --build-config "Debug" --tests-regex "kalman_(test|sample)" --output-on-failure --parallel
 ```
 
 ## Benchmarks
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index 48b0c0c01f..ee2dbfc765 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -59,7 +59,7 @@ foreach(BENCHMARK ${SOURCES})
                                                                      "include")
   target_link_libraries(
     kalman_benchmark_${NAME}_driver
-    PRIVATE eigen kalman benchmark::benchmark_main benchmark::benchmark)
+    PRIVATE Eigen3::Eigen kalman benchmark::benchmark_main benchmark::benchmark)
   add_test(kalman_benchmark_${NAME} kalman_benchmark_${NAME}_driver
            "--benchmark_out=${NAME}.json")
 endforeach()
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 2e983a8680..96e00f6f81 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -72,5 +72,5 @@ endif()
 
 add_library(kalman INTERFACE)
 target_include_directories(kalman INTERFACE ".")
-target_link_libraries(kalman INTERFACE ${LIBRARIES})
+target_link_libraries(kalman INTERFACE ${LIBRARIES} Eigen3::Eigen)
 target_compile_options(kalman INTERFACE ${OPTIONS})
diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index cb08f69a94..8744410264 100644
--- a/sample/CMakeLists.txt
+++ b/sample/CMakeLists.txt
@@ -48,6 +48,7 @@ set(SOURCES
 foreach(SAMPLE ${SOURCES})
   get_filename_component(NAME ${SAMPLE} NAME_WE)
   add_executable(kalman_sample_${NAME}_driver ${SAMPLE})
-  target_link_libraries(kalman_sample_${NAME}_driver PRIVATE eigen kalman main)
+  target_link_libraries(kalman_sample_${NAME}_driver PRIVATE Eigen3::Eigen
+                                                             kalman main)
   add_test(kalman_sample_${NAME} kalman_sample_${NAME}_driver)
 endforeach()
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 38cff3090b..644341e0d5 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -48,6 +48,7 @@ set(SOURCES
 foreach(TEST ${SOURCES})
   get_filename_component(NAME ${TEST} NAME_WE)
   add_executable(kalman_test_${NAME}_driver ${TEST})
-  target_link_libraries(kalman_test_${NAME}_driver PRIVATE eigen kalman main)
+  target_link_libraries(kalman_test_${NAME}_driver PRIVATE Eigen3::Eigen kalman
+                                                           main)
   add_test(kalman_test_${NAME} kalman_test_${NAME}_driver)
 endforeach()