diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
index 6be1b49c6..e3980f6ff 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
@@ -1199,8 +1199,8 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
 
           // NOTE: the begin/end asm comments below work around bug 935!
           // but they are not enough for gcc>=6 without FMA (bug 1637)
-          #if EIGEN_GNUC_AT_LEAST(6,0)
-            #define EIGEN_GEBP_2PX4_SPILLING_WORKAROUND __asm__  ("" : [a0] "+rm" (A0),[a1] "+rm" (A1));
+          #if EIGEN_GNUC_AT_LEAST(6,0) && defined(EIGEN_VECTORIZE_SSE)
+            #define EIGEN_GEBP_2PX4_SPILLING_WORKAROUND __asm__  ("" : [a0] "+x,m" (A0),[a1] "+x,m" (A1));
           #else
             #define EIGEN_GEBP_2PX4_SPILLING_WORKAROUND
           #endif
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h
index eef845c5f..aa054a0b7 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h
@@ -13,7 +13,7 @@
 
 #define EIGEN_WORLD_VERSION 3
 #define EIGEN_MAJOR_VERSION 3
-#define EIGEN_MINOR_VERSION 6
+#define EIGEN_MINOR_VERSION 7
 
 #define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
                                       (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \