diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5371daf..cf44a00 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,7 +52,7 @@ list(APPEND CMAKE_PREFIX_PATH ${CMAKE_SOURCE_DIR}/externals/install)
 find_package(Eigen3 3.3.5 REQUIRED NO_MODULE)
 
 # Ceres to solve the NLS problem
-find_package(Ceres 2.0 REQUIRED)
+find_package(Ceres 2.1 REQUIRED)
 
 # Simple multi-threading
 set(CMAKE_THREAD_PREFER_PTHREAD ON)
diff --git a/externals/ceres-solver b/externals/ceres-solver
index 399cda7..f68321e 160000
--- a/externals/ceres-solver
+++ b/externals/ceres-solver
@@ -1 +1 @@
-Subproject commit 399cda773035d99eaf1f4a129a666b3c4df9d1b1
+Subproject commit f68321e7de8929fbcdb95dd42877531e64f72f66
diff --git a/include/FactorGraph.h b/include/FactorGraph.h
index b994c4c..ee8a3e7 100644
--- a/include/FactorGraph.h
+++ b/include/FactorGraph.h
@@ -439,7 +439,8 @@ namespace libRSF
       /** default settings for new ceres::Problems, especially enable_fast_removal = true */
       const ceres::Problem::Options DefaultProblemOptions_ = {ceres::Ownership::TAKE_OWNERSHIP, // cost_function_ownership
                                                               ceres::Ownership::TAKE_OWNERSHIP, // loss_function_ownership
-                                                              ceres::Ownership::TAKE_OWNERSHIP, // local_parameterization_ownership
+                                                              ceres::Ownership::TAKE_OWNERSHIP, // local_parameterization_ownership (deprecated in 2.1)
+                                                              ceres::Ownership::TAKE_OWNERSHIP, // manifold_ownership (new in 2.1)
                                                               true, // enable_fast_removal
                                                               false, // disable_all_safety_checks
                                                               nullptr, // context
diff --git a/include/error_models/MaxMixture.h b/include/error_models/MaxMixture.h
index 055db92..cbe52df 100644
--- a/include/error_models/MaxMixture.h
+++ b/include/error_models/MaxMixture.h
@@ -93,7 +93,7 @@ namespace libRSF
                            sqrt(ceres::fmax(-2.0 * T(log(Mixture_.template getLinearPartOfComponent<T>(nComponent, RawError) / Normalization_)), T(1e-10)));/** fmax() is required to handle numeric tolerances */
 
             /** keep only the most likely component */
-            if(ErrorShadow.squaredNorm() < Loglike || ceres::IsNaN(Loglike))
+            if(ErrorShadow.squaredNorm() < Loglike || ceres::isnan(Loglike))
             {
               Loglike = ErrorShadow.squaredNorm();
               ErrorShadowBest = ErrorShadow;
diff --git a/src/FactorGraph.cpp b/src/FactorGraph.cpp
index b0e5856..f946c24 100644
--- a/src/FactorGraph.cpp
+++ b/src/FactorGraph.cpp
@@ -283,7 +283,7 @@ namespace libRSF
           StateData_.getElement(State.ID, State.Timestamp, State.Number).getMeanPointer());
 
       /** compute size of the marginalized system */
-      MarginalSize += Graph_.ParameterBlockLocalSize(MarginalStates.back());
+      MarginalSize += Graph_.ParameterBlockTangentSize(MarginalStates.back());
     }
 
     /** get connected states */
diff --git a/src/FactorGraphStructure.cpp b/src/FactorGraphStructure.cpp
index 7588ae6..0f438d6 100644
--- a/src/FactorGraphStructure.cpp
+++ b/src/FactorGraphStructure.cpp
@@ -97,7 +97,7 @@ namespace libRSF
     {
       ConnectedStates.emplace_back(State);
       StateDims.emplace_back(Graph_->ParameterBlockSize(State));
-      StateDimsLocal.emplace_back(Graph_->ParameterBlockLocalSize(State));
+      StateDimsLocal.emplace_back(Graph_->ParameterBlockTangentSize(State));
 
       /** find state info */
       StateInfo Info = States_.at(State);