diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7e7e413..1ab96b1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -182,7 +182,7 @@ unset(CERES_COMPILE_OPTIONS)
 
 # Eigen.
 # Eigen delivers Eigen3Config.cmake since v3.3.3
-find_package(Eigen3 3.3 REQUIRED)
+find_package(Eigen3 3.3...5 REQUIRED)
 if (Eigen3_FOUND)
   message("-- Found Eigen version ${Eigen3_VERSION}: ${Eigen3_DIR}")
   if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)" AND

diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc
index 56221945a55927aff91ab96b37a9af19514ca508..930711fd01f0a61aad88b188acad4958f777f706 100644
--- a/internal/ceres/covariance_impl.cc
+++ b/internal/ceres/covariance_impl.cc
@@ -724,8 +724,13 @@ bool CovarianceImpl::ComputeCovarianceValuesUsingDenseSVD() {
   }
   event_logger.AddEvent("ConvertToDenseMatrix");
 
+#if EIGEN_VERSION_AT_LEAST(5, 0, 0)
+  Eigen::BDCSVD<Matrix, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(
+      dense_jacobian);
+#else   // !EIGEN_VERSION_AT_LEAST(5, 0, 0)
   Eigen::BDCSVD<Matrix> svd(dense_jacobian,
                             Eigen::ComputeThinU | Eigen::ComputeThinV);
+#endif  // EIGEN_VERSION_AT_LEAST(5, 0, 0)
 
   event_logger.AddEvent("SingularValueDecomposition");
 
diff --git a/internal/ceres/invert_psd_matrix.h b/internal/ceres/invert_psd_matrix.h
index 21ba2dc8a150725aae2a779b7551ad4b7973b379..dd3a0a34bf02f8852a7a71edbc8ac0e9a8865f51 100644
--- a/internal/ceres/invert_psd_matrix.h
+++ b/internal/ceres/invert_psd_matrix.h
@@ -67,7 +67,11 @@ typename EigenTypes<kSize, kSize>::Matrix InvertPSDMatrix(
 
   // For a thin SVD the number of columns of the matrix need to be dynamic.
   using SVDMType = typename EigenTypes<kSize, Eigen::Dynamic>::Matrix;
+#if EIGEN_VERSION_AT_LEAST(5, 0, 0)
+  Eigen::JacobiSVD<SVDMType, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(m);
+#else   // !EIGEN_VERSION_AT_LEAST(5, 0, 0)
   Eigen::JacobiSVD<SVDMType> svd(m, Eigen::ComputeThinU | Eigen::ComputeThinV);
+#endif  // EIGEN_VERSION_AT_LEAST(5, 0, 0)
   return svd.solve(MType::Identity(size, size));
 }