diff --git a/cpp/CMakeLists.txt b/cpp/CMakeLists.txt
index f1aaf0b..eae3541 100644
--- a/cpp/CMakeLists.txt
+++ b/cpp/CMakeLists.txt
@@ -21,7 +21,7 @@
 # SOFTWARE.
 
 cmake_minimum_required(VERSION 3.16...3.26)
-project(map_closures_cpp VERSION 2.0.2 LANGUAGES CXX)
+project(map_closures_cpp VERSION 2.1.0 LANGUAGES CXX)
 
 option(USE_SYSTEM_EIGEN3 "Use system pre-installed Eigen" ON)
 option(USE_SYSTEM_OPENCV "Use system pre-installed OpenCV" ON)
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 9b51e8c..a045733 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -20,7 +20,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 cmake_minimum_required(VERSION 3.16...3.26)
-project(map_closure_pybind VERSION 2.0.2 LANGUAGES CXX)
+project(map_closure_pybind VERSION 2.1.0 LANGUAGES CXX)
 
 # Set build type
 set(CMAKE_BUILD_TYPE Release)
diff --git a/python/map_closures/__init__.py b/python/map_closures/__init__.py
index 31977a8..c54a6a2 100644
--- a/python/map_closures/__init__.py
+++ b/python/map_closures/__init__.py
@@ -20,4 +20,4 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-__version__ = "2.0.2"
+__version__ = "2.1.0"
diff --git a/python/pyproject.toml b/python/pyproject.toml
index eb95d16..07e690f 100644
--- a/python/pyproject.toml
+++ b/python/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "map_closures"
-version = "2.0.2"
+version = "2.1.0"
 description = "Effectively Detecting Loop Closures using Point Cloud Density Maps"
 authors = [{ name = "Saurabh Gupta" }, { name = "Tiziano Guadagnino" }]
 readme = "README.md"