diff --git a/corelib/src/optimizer/OptimizerCeres.cpp b/corelib/src/optimizer/OptimizerCeres.cpp
index 5a62283a..7d216b47 100644
--- a/corelib/src/optimizer/OptimizerCeres.cpp
+++ b/corelib/src/optimizer/OptimizerCeres.cpp
@@ -37,7 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #ifdef RTABMAP_CERES
 #include <ceres/ceres.h>
-#include <ceres/local_parameterization.h>
+#include <ceres/manifold.h>
 #include "ceres/pose_graph_2d/types.h"
 #include "ceres/pose_graph_2d/pose_graph_2d_error_term.h"
 #include "ceres/pose_graph_2d/angle_local_parameterization.h"
@@ -118,8 +118,8 @@ std::map<int, Transform> OptimizerCeres::optimize(
 		}
 
 		ceres::LossFunction* loss_function = NULL;
-		ceres::LocalParameterization* angle_local_parameterization = NULL;
-		ceres::LocalParameterization* quaternion_local_parameterization = NULL;
+		ceres::Manifold* angle_local_parameterization = NULL;
+		ceres::Manifold* quaternion_local_parameterization = NULL;
 
 		for(std::multimap<int, Link>::const_iterator iter=edgeConstraints.begin(); iter!=edgeConstraints.end(); ++iter)
 		{
@@ -168,8 +168,8 @@ std::map<int, Transform> OptimizerCeres::optimize(
 					{
 						angle_local_parameterization = ceres::examples::AngleLocalParameterization::Create();
 					}
-					problem.SetParameterization(&pose_begin_iter->second.yaw_radians, angle_local_parameterization);
-					problem.SetParameterization(&pose_end_iter->second.yaw_radians, angle_local_parameterization);
+					problem.SetManifold(&pose_begin_iter->second.yaw_radians, angle_local_parameterization);
+					problem.SetManifold(&pose_end_iter->second.yaw_radians, angle_local_parameterization);
 				}
 				else
 				{
@@ -196,10 +196,10 @@ std::map<int, Transform> OptimizerCeres::optimize(
 											  pose_end_iter->second.p.data(), pose_end_iter->second.q.coeffs().data());
 					if(quaternion_local_parameterization == NULL)
 					{
-						quaternion_local_parameterization = new ceres::EigenQuaternionParameterization;
+						quaternion_local_parameterization = new ceres::EigenQuaternionManifold;
 					}
-					problem.SetParameterization(pose_begin_iter->second.q.coeffs().data(), quaternion_local_parameterization);
-					problem.SetParameterization(pose_end_iter->second.q.coeffs().data(), quaternion_local_parameterization);
+					problem.SetManifold(pose_begin_iter->second.q.coeffs().data(), quaternion_local_parameterization);
+					problem.SetManifold(pose_end_iter->second.q.coeffs().data(), quaternion_local_parameterization);
 				}
 			}
 			//else // not supporting pose prior and landmarks
diff --git a/corelib/src/optimizer/ceres/pose_graph_2d/angle_local_parameterization.h b/corelib/src/optimizer/ceres/pose_graph_2d/angle_local_parameterization.h
index 428ccccd..d5bf1dcd 100644
--- a/corelib/src/optimizer/ceres/pose_graph_2d/angle_local_parameterization.h
+++ b/corelib/src/optimizer/ceres/pose_graph_2d/angle_local_parameterization.h
@@ -31,7 +31,8 @@
 #ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
 #define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
 
-#include "ceres/local_parameterization.h"
+#include "ceres/autodiff_manifold.h"
+#include "ceres/manifold.h"
 #include "normalize_angle.h"
 
 namespace ceres {
@@ -41,19 +42,20 @@ namespace examples {
 // [-pi to pi).
 class AngleLocalParameterization {
  public:
-
   template <typename T>
-  bool operator()(const T* theta_radians, const T* delta_theta_radians,
-                  T* theta_radians_plus_delta) const {
-    *theta_radians_plus_delta =
-        NormalizeAngle(*theta_radians + *delta_theta_radians);
+  bool Plus(const T* x, const T* delta, T* x_plus_delta) const {
+    *x_plus_delta = NormalizeAngle(*x + *delta);
+    return true;
+  }
 
+  template <typename T>
+  bool Minus(const T* y, const T* x, T* y_minus_x) const {
+    *y_minus_x = NormalizeAngle(*y - *x);
     return true;
   }
 
-  static ceres::LocalParameterization* Create() {
-    return (new ceres::AutoDiffLocalParameterization<AngleLocalParameterization,
-                                                     1, 1>);
+  static ceres::Manifold* Create() {
+    return (new ceres::AutoDiffManifold<AngleLocalParameterization, 1, 1>);
   }
 };
 
diff --git a/corelib/src/optimizer/ceres/pose_graph_3d/eigen_quaternion_parameterization.h b/corelib/src/optimizer/ceres/pose_graph_3d/eigen_quaternion_parameterization.h
index ae03ebda..ffab3042 100644
--- a/corelib/src/optimizer/ceres/pose_graph_3d/eigen_quaternion_parameterization.h
+++ b/corelib/src/optimizer/ceres/pose_graph_3d/eigen_quaternion_parameterization.h
@@ -31,7 +31,7 @@
 #ifndef CERES_EXAMPLES_POSE_GRAPH_3D_EIGEN_QUATERNION_PARAMETERIZATION_H_
 #define CERES_EXAMPLES_POSE_GRAPH_3D_EIGEN_QUATERNION_PARAMETERIZATION_H_
 
-#include "ceres/local_parameterization.h"
+#include "ceres/manifold.h"
 
 namespace ceres {
 
@@ -46,7 +46,7 @@ namespace ceres {
 //
 // Plus(x, delta) = [sin(|delta|) delta / |delta|, cos(|delta|)] * x
 // with * being the quaternion multiplication operator.
-class EigenQuaternionParameterization : public ceres::LocalParameterization {
+class EigenQuaternionParameterization : public ceres::Manifold {
  public:
   virtual ~EigenQuaternionParameterization() {}
   virtual bool Plus(const double* x_ptr,