diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index 723d7f5c5..e76174adc 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -58,8 +58,8 @@ foreach(BENCHMARK ${SOURCES})
   target_include_directories(kalman_benchmark_${NAME}_driver PRIVATE "."
                                                                      "include")
   target_link_libraries(
-    kalman_benchmark_${NAME}_driver PRIVATE kalman benchmark::benchmark_main
-                                            benchmark::benchmark)
+    kalman_benchmark_${NAME}_driver
+    PRIVATE benchmark::benchmark benchmark::benchmark_main Eigen3::Eigen kalman)
   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 96e00f6f8..2e983a868 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} Eigen3::Eigen)
+target_link_libraries(kalman INTERFACE ${LIBRARIES})
 target_compile_options(kalman INTERFACE ${OPTIONS})
diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index 8fccb61a6..874441026 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 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 37773aecc..644341e0d 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 kalman main)
+  target_link_libraries(kalman_test_${NAME}_driver PRIVATE Eigen3::Eigen kalman
+                                                           main)
   add_test(kalman_test_${NAME} kalman_test_${NAME}_driver)
 endforeach()