diff --git a/.gitmodules b/.gitmodules
index 4b212127..5756ce12 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -74,3 +74,9 @@
 [submodule "internal/hand_eye_calibration"]
 	path = internal/hand_eye_calibration
 	url = https://github.com/ethz-asl/hand_eye_calibration.git
+[submodule "3rdparty/benchmark_catkin"]
+	path = 3rdparty/benchmark_catkin
+	url = https://github.com/ethz-asl/benchmark_catkin.git
+[submodule "internal/evaluation_tools"]
+	path = internal/evaluation_tools
+	url = https://github.com/ethz-asl/evaluation_tools.git
diff --git a/3rdparty/benchmark_catkin b/3rdparty/benchmark_catkin
new file mode 160000
index 00000000..a657d52a
--- /dev/null
+++ b/3rdparty/benchmark_catkin
@@ -0,0 +1 @@
+Subproject commit a657d52a7a508d231a9931c8b94012003d3e5726
diff --git a/3rdparty/glog_catkin b/3rdparty/glog_catkin
index 5f05db04..de911f71 160000
--- a/3rdparty/glog_catkin
+++ b/3rdparty/glog_catkin
@@ -1 +1 @@
-Subproject commit 5f05db04b6cab0480067bec59a96fbc853fe5429
+Subproject commit de911f71cb832dcc0668bca56727b4b7b1e42126
diff --git a/3rdparty/protobuf_catkin b/3rdparty/protobuf_catkin
index ae07b372..97b765b3 160000
--- a/3rdparty/protobuf_catkin
+++ b/3rdparty/protobuf_catkin
@@ -1 +1 @@
-Subproject commit ae07b372a92936d6ad05b55e3b9c48e9ae9ae528
+Subproject commit 97b765b337fe4307ef2b3b773e3f282b4f59a2bb
diff --git a/internal/ethzasl_brisk b/internal/ethzasl_brisk
index 5a1f1dd3..be3d42bc 160000
--- a/internal/ethzasl_brisk
+++ b/internal/ethzasl_brisk
@@ -1 +1 @@
-Subproject commit 5a1f1dd33e45777182c5c28489030fa9e6058710
+Subproject commit be3d42bc12fb1573a6b8d95c5f01eb079768ede4
diff --git a/internal/evaluation_tools b/internal/evaluation_tools
new file mode 160000
index 00000000..a3779876
--- /dev/null
+++ b/internal/evaluation_tools
@@ -0,0 +1 @@
+Subproject commit a3779876f8cb4e1272359439c73b8573b5362937
diff --git a/internal/hand_eye_calibration b/internal/hand_eye_calibration
index ce88f43e..5d507757 160000
--- a/internal/hand_eye_calibration
+++ b/internal/hand_eye_calibration
@@ -1 +1 @@
-Subproject commit ce88f43e655841ce609f8a0a5e7ec301d015e03d
+Subproject commit 5d5077572d650a5491040a4a90d98850df4cf068
diff --git a/internal/maplab_rovio b/internal/maplab_rovio
index 1194a284..3c1a6938 160000
--- a/internal/maplab_rovio
+++ b/internal/maplab_rovio
@@ -1 +1 @@
-Subproject commit 1194a284f6403b65cfbbf6ab397d3a4719b19e94
+Subproject commit 3c1a6938145bbe5ea42cdec84dc11771a4e52b6a
diff --git a/internal/voxblox b/internal/voxblox
index 19634c9c..3665918f 160000
--- a/internal/voxblox
+++ b/internal/voxblox
@@ -1 +1 @@
-Subproject commit 19634c9cb98efececbd8ae63d17e70d4f4594235
+Subproject commit 3665918f0801f77b911a5ad47e38262a1982241b