diff --git a/CMakeLists.txt b/CMakeLists.txt
index c2918f1cb..9dce69903 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,8 +9,8 @@ endif()
 
 # Set the version number for the library
 set (GTSAM_VERSION_MAJOR 4)
-set (GTSAM_VERSION_MINOR 0)
-set (GTSAM_VERSION_PATCH 3)
+set (GTSAM_VERSION_MINOR 1)
+set (GTSAM_VERSION_PATCH 0)
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
 
diff --git a/package.xml b/package.xml
index f8554729e..341c78ba3 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>gtsam</name>
-  <version>4.0.2</version>
+  <version>4.1.0</version>
   <description>gtsam</description>
 
   <maintainer email="gtsam@lists.gatech.edu">Frank Dellaert</maintainer>