diff --git a/recipes-extended/sophus/sophus_0.9.1.bb b/recipes-extended/sophus/sophus_0.9.1.bb
new file mode 100644
index 0000000..64cbc8b
--- /dev/null
+++ b/recipes-extended/sophus/sophus_0.9.1.bb
@@ -0,0 +1,17 @@
+DESCRIPTION = "C++ implementation of Lie Groups using Eigen."
+SECTION = "devel"
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://sophus/sophus.hpp;beginline=5;endline=21;md5=4cb78e93094b91e5b1616cb93ab7e635"
+
+DEPENDS = "libeigen"
+
+SRC_URI = "https://github.com/stonier/sophus/archive/${PV}.tar.gz;;downloadfilename=${PN}_${PV}.tar.gz"
+SRC_URI[md5sum] = "de77d9f4b769df91bd57c5224f7f1b88"
+SRC_URI[sha256sum] = "962165b5233c5d4b4d1f6c36ea77e6f3d004b9fff907f617f9952f84534177cc"
+
+S = "${WORKDIR}/sophus-${PV}"
+
+inherit cmake
+
+# CXXFLAGS are needed to compile eigen 3.3.1 headers properly
+CXXFLAGS += "-Wno-deprecated-declarations -Wno-misleading-indentation"