diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
index 195a8704..e008ba9b 100644
--- a/dynamicEDT3D/CMakeLists.txt
+++ b/dynamicEDT3D/CMakeLists.txt
@@ -6,7 +6,7 @@ ENABLE_TESTING()
 # version (e.g. for packaging)
 set(DYNAMICEDT3D_MAJOR_VERSION 1)
 set(DYNAMICEDT3D_MINOR_VERSION 8)
-set(DYNAMICEDT3D_PATCH_VERSION 0)
+set(DYNAMICEDT3D_PATCH_VERSION 1)
 set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
 set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
 
diff --git a/dynamicEDT3D/package.xml b/dynamicEDT3D/package.xml
index a25cd01f..9fb410c1 100644
--- a/dynamicEDT3D/package.xml
+++ b/dynamicEDT3D/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>dynamic_edt_3d</name>
-  <version>1.8.0</version>
+  <version>1.8.1</version>
   <description> The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.</description>
 
   <author email="sprunkc@informatik.uni-freiburg.de">Christoph Sprunk</author>
diff --git a/octomap/CHANGELOG.txt b/octomap/CHANGELOG.txt
index 8775f7a5..4d0da7a0 100644
--- a/octomap/CHANGELOG.txt
+++ b/octomap/CHANGELOG.txt
@@ -1,3 +1,9 @@
+v1.8.1: 2017-01-13
+==================
+- Disambiguated isnan (C++11)
+- Fixed #123: Set root=NULL in clear()
+- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
+
 v1.8.0: 2016-04-20
 ==================
 - Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to 
diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
index fcafca18..f4b50a38 100644
--- a/octomap/CMakeLists.txt
+++ b/octomap/CMakeLists.txt
@@ -6,7 +6,7 @@ ENABLE_TESTING()
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
 set(OCTOMAP_MINOR_VERSION 8)
-set(OCTOMAP_PATCH_VERSION 0)
+set(OCTOMAP_PATCH_VERSION 1)
 set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 set(OCTOMAP_SOVERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION})
 if(COMMAND cmake_policy)
diff --git a/octomap/package.xml b/octomap/package.xml
index ed2282c6..47a6e1a5 100644
--- a/octomap/package.xml
+++ b/octomap/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>octomap</name>
-  <version>1.8.0</version>
+  <version>1.8.1</version>
   <description>The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
   http://octomap.github.io for details.</description>
 
diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
index 87fb9a51..a6640517 100644
--- a/octovis/CMakeLists.txt
+++ b/octovis/CMakeLists.txt
@@ -4,7 +4,7 @@ PROJECT( octovis )
 # # version (e.g. for packaging)
 set(OCTOVIS_MAJOR_VERSION 1)
 set(OCTOVIS_MINOR_VERSION 8)
-set(OCTOVIS_PATCH_VERSION 0)
+set(OCTOVIS_PATCH_VERSION 1)
 set(OCTOVIS_VERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION}.${OCTOVIS_PATCH_VERSION})
 set(OCTOVIS_SOVERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION})
 # get rid of a useless warning:
diff --git a/octovis/package.xml b/octovis/package.xml
index 57567556..2429e18c 100644
--- a/octovis/package.xml
+++ b/octovis/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>octovis</name>
-  <version>1.8.0</version>
+  <version>1.8.1</version>
   <description>octovis is visualization tool for the OctoMap library based on Qt and libQGLViewer. See
   http://octomap.github.io for details.</description>