diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7a49a8aa6..a810ac9df 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,6 +22,7 @@ set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM
 
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 include(GtsamMakeConfigFile)
+include(GNUInstallDirs)
 
 # Record the root dir for gtsam - needed during external builds, e.g., ROS
 set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/CppUnitLite/CMakeLists.txt b/CppUnitLite/CMakeLists.txt
index f52841274..ab884ec1d 100644
--- a/CppUnitLite/CMakeLists.txt
+++ b/CppUnitLite/CMakeLists.txt
@@ -12,6 +12,6 @@ gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC
 
 option(GTSAM_INSTALL_CPPUNITLITE "Enable/Disable installation of CppUnitLite library" ON)
 if (GTSAM_INSTALL_CPPUNITLITE)
-    install(FILES ${cppunitlite_headers} DESTINATION include/CppUnitLite)
-    install(TARGETS CppUnitLite EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
+    install(FILES ${cppunitlite_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/CppUnitLite)
+    install(TARGETS CppUnitLite EXPORT GTSAM-exports ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
 endif(GTSAM_INSTALL_CPPUNITLITE)
diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt
index ed18b7aad..89149d964 100644
--- a/gtsam/3rdparty/CMakeLists.txt
+++ b/gtsam/3rdparty/CMakeLists.txt
@@ -1,6 +1,6 @@
 # install CCOLAMD headers
-install(FILES CCOLAMD/Include/ccolamd.h DESTINATION include/gtsam/3rdparty/CCOLAMD)
-install(FILES SuiteSparse_config/SuiteSparse_config.h DESTINATION include/gtsam/3rdparty/SuiteSparse_config)
+install(FILES CCOLAMD/Include/ccolamd.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/CCOLAMD)
+install(FILES SuiteSparse_config/SuiteSparse_config.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/SuiteSparse_config)
 
 if(NOT GTSAM_USE_SYSTEM_EIGEN)
 	# Find plain .h files
@@ -12,7 +12,7 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
 		get_filename_component(filename ${eigen_dir} NAME)
 		if (NOT ((${filename} MATCHES "CMakeLists.txt") OR (${filename} MATCHES "src") OR (${filename} MATCHES ".svn")))
 			list(APPEND eigen_headers "${CMAKE_CURRENT_SOURCE_DIR}/Eigen/Eigen/${filename}")
-			install(FILES Eigen/Eigen/${filename} DESTINATION include/gtsam/3rdparty/Eigen/Eigen)
+			install(FILES Eigen/Eigen/${filename} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/Eigen/Eigen)
 		endif()
 	endforeach(eigen_dir)
 
@@ -26,7 +26,7 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
 			get_filename_component(filename ${unsupported_eigen_dir} NAME)
 			if (NOT ((${filename} MATCHES "CMakeLists.txt") OR (${filename} MATCHES "src") OR (${filename} MATCHES "CXX11") OR (${filename} MATCHES ".svn")))
 				list(APPEND unsupported_eigen_headers "${CMAKE_CURRENT_SOURCE_DIR}/Eigen/unsupported/Eigen/${filename}")
-				install(FILES Eigen/unsupported/Eigen/${filename} DESTINATION include/gtsam/3rdparty/Eigen/unsupported/Eigen)
+				install(FILES Eigen/unsupported/Eigen/${filename} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/Eigen/unsupported/Eigen)
 			endif()
 		endforeach(unsupported_eigen_dir)
 	endif()
@@ -37,12 +37,12 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
 
 	# install Eigen - only the headers in our 3rdparty directory
 	install(DIRECTORY Eigen/Eigen
-		DESTINATION include/gtsam/3rdparty/Eigen
+		DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/Eigen
 		FILES_MATCHING PATTERN "*.h")
 
 	if(GTSAM_WITH_EIGEN_UNSUPPORTED)
 		install(DIRECTORY Eigen/unsupported/Eigen
-			DESTINATION include/gtsam/3rdparty/Eigen/unsupported/
+			DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/Eigen/unsupported/
 			FILES_MATCHING PATTERN "*.h")
 	endif()
 
diff --git a/gtsam/3rdparty/Eigen/blas/CMakeLists.txt b/gtsam/3rdparty/Eigen/blas/CMakeLists.txt
index 9887d5804..e2f1dd6b4 100644
--- a/gtsam/3rdparty/Eigen/blas/CMakeLists.txt
+++ b/gtsam/3rdparty/Eigen/blas/CMakeLists.txt
@@ -39,9 +39,9 @@ endif()
 add_dependencies(blas eigen_blas eigen_blas_static)
 
 install(TARGETS eigen_blas eigen_blas_static
-        RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
 
 if(EIGEN_Fortran_COMPILER_WORKS)
 
diff --git a/gtsam/3rdparty/Eigen/lapack/CMakeLists.txt b/gtsam/3rdparty/Eigen/lapack/CMakeLists.txt
index 6df1fa958..9aa209faa 100644
--- a/gtsam/3rdparty/Eigen/lapack/CMakeLists.txt
+++ b/gtsam/3rdparty/Eigen/lapack/CMakeLists.txt
@@ -103,9 +103,9 @@ endif()
 add_dependencies(lapack eigen_lapack eigen_lapack_static)
 
 install(TARGETS eigen_lapack eigen_lapack_static
-        RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
 
         
         
diff --git a/gtsam/3rdparty/metis/GKlib/CMakeLists.txt b/gtsam/3rdparty/metis/GKlib/CMakeLists.txt
index 67b600aa6..ce9fa1124 100644
--- a/gtsam/3rdparty/metis/GKlib/CMakeLists.txt
+++ b/gtsam/3rdparty/metis/GKlib/CMakeLists.txt
@@ -16,6 +16,6 @@ include_directories("test")
 add_subdirectory("test")
 
 install(TARGETS GKlib
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib)
-install(FILES ${GKlib_includes} DESTINATION include)
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})
+install(FILES ${GKlib_includes} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
diff --git a/gtsam/3rdparty/metis/libmetis/CMakeLists.txt b/gtsam/3rdparty/metis/libmetis/CMakeLists.txt
index fdf5e7511..3d2243388 100644
--- a/gtsam/3rdparty/metis/libmetis/CMakeLists.txt
+++ b/gtsam/3rdparty/metis/libmetis/CMakeLists.txt
@@ -21,6 +21,9 @@ if (APPLE)
 			"${CMAKE_INSTALL_PREFIX}/lib")
  endif()
 
-install(TARGETS metis EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
+install(TARGETS metis EXPORT GTSAM-exports
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 list(APPEND GTSAM_EXPORTED_TARGETS metis)
 set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
diff --git a/gtsam/3rdparty/metis/programs/CMakeLists.txt b/gtsam/3rdparty/metis/programs/CMakeLists.txt
index 3aaf3577d..67af1d117 100644
--- a/gtsam/3rdparty/metis/programs/CMakeLists.txt
+++ b/gtsam/3rdparty/metis/programs/CMakeLists.txt
@@ -15,7 +15,7 @@ endforeach(prog)
 
 if(METIS_INSTALL)
   install(TARGETS gpmetis ndmetis mpmetis m2gmetis graphchk cmpfillin
-    RUNTIME DESTINATION bin)
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()
 
 # Try to find subversion revision.
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index cabd5e402..20995ce5e 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -49,7 +49,7 @@ endif()
 
 # Common headers
 file(GLOB gtsam_core_headers "*.h")
-install(FILES ${gtsam_core_headers} DESTINATION include/gtsam)
+install(FILES ${gtsam_core_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam)
 
 # assemble core libaries
 foreach(subdir ${gtsam_subdirs})
@@ -86,7 +86,7 @@ configure_file(config.h.in config.h)
 set(library_name GTSAM) # For substitution in dllexport.h.in
 configure_file("${GTSAM_SOURCE_DIR}/cmake/dllexport.h.in" "dllexport.h")
 list(APPEND gtsam_srcs "${PROJECT_BINARY_DIR}/config.h" "${PROJECT_BINARY_DIR}/dllexport.h")
-install(FILES "${PROJECT_BINARY_DIR}/config.h" "${PROJECT_BINARY_DIR}/dllexport.h" DESTINATION include/gtsam)
+install(FILES "${PROJECT_BINARY_DIR}/config.h" "${PROJECT_BINARY_DIR}/dllexport.h" DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam)
 
 if(GTSAM_SUPPORT_NESTED_DISSECTION)
     list(APPEND GTSAM_ADDITIONAL_LIBRARIES metis)
@@ -179,9 +179,9 @@ endif()
 install(
 	TARGETS gtsam
 	EXPORT GTSAM-exports
-	LIBRARY DESTINATION lib
-	ARCHIVE DESTINATION lib
-	RUNTIME DESTINATION bin)
+	LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+	ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+	RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 
 list(APPEND GTSAM_EXPORTED_TARGETS gtsam)
 set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index 53ba83fad..010b32710 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -48,7 +48,7 @@ endforeach(subdir)
 set(library_name GTSAM_UNSTABLE) # For substitution in dllexport.h.in
 configure_file("${GTSAM_SOURCE_DIR}/cmake/dllexport.h.in" "dllexport.h")
 list(APPEND gtsam_unstable_srcs "${PROJECT_BINARY_DIR}/dllexport.h")
-install(FILES "${PROJECT_BINARY_DIR}/dllexport.h" DESTINATION include/gtsam_unstable)
+install(FILES "${PROJECT_BINARY_DIR}/dllexport.h" DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam_unstable)
 
 # assemble gtsam_unstable components
 set(gtsam_unstable_srcs
@@ -101,9 +101,9 @@ endif()
 install(
 	TARGETS gtsam_unstable
 	EXPORT GTSAM-exports
-	LIBRARY DESTINATION lib
-	ARCHIVE DESTINATION lib
-	RUNTIME DESTINATION bin)
+	LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+	ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+	RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
 list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable)
 set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
 
diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt
index ac7a35fcd..c04a44edb 100644
--- a/wrap/CMakeLists.txt
+++ b/wrap/CMakeLists.txt
@@ -34,12 +34,12 @@ file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE
 set_target_properties(wrap_lib wrap PROPERTIES FOLDER "${relative_path}")
 
 # Install wrap binary and export target
-install(TARGETS wrap EXPORT GTSAM-exports DESTINATION bin)
+install(TARGETS wrap EXPORT GTSAM-exports DESTINATION ${CMAKE_INSTALL_BINDIR})
 list(APPEND GTSAM_EXPORTED_TARGETS wrap)
 set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
 
 # Install matlab header
-install(FILES matlab.h DESTINATION include/wrap)
+install(FILES matlab.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/wrap)
 
 # Build tests
 add_subdirectory(tests)