diff --git a/doc/CompilationMac.md b/doc/CompilationMac.md
index 71a89451..3a8f843a 100644
--- a/doc/CompilationMac.md
+++ b/doc/CompilationMac.md
@@ -20,6 +20,7 @@ If you are used to development project, here is what you need:
 |_Dependency:_ ||
 |boost          | 1.57.0                |
 |eigen          | 3.2.4                 |
+|yaml-cpp       | 0.5+                 |
 |libnabo        | [from source](https://github.com/ethz-asl/libnabo) |
 
 
@@ -111,12 +112,35 @@ The Eigen linear algebra is required before installing libpointmatcher and can b
 brew install eigen
 ```
 
-### 2. Installing libnabo
+### 2. Installing yaml-cpp
+
+The straightforward way to install yaml-cpp library through brew was, as for hte end 2023, not functional  
+```bash
+brew install yaml-cpp
+```
+Instead, you can install the library from sources. Follow https://github.com/jbeder/yaml-cpp/tree/master
+```bash
+mkdir ~/Libraries/
+cd ~/Libraries
+git clone git@github.com:jbeder/yaml-cpp.git
+cd yaml-cpp
+```
+Now you can compile and install yaml-cpp by entering the following commands
+
+```bash
+SRC_DIR=$PWD
+BUILD_DIR=${SRC_DIR}/build
+mkdir -p ${BUILD_DIR} && cd ${BUILD_DIR}
+cmake ..
+make
+sudo make install
+```
+
+### 3. Installing libnabo
 
 libnabo is a library for performing fast nearest-neighbor searches in low-dimensional spaces.  It can be found [here](https://github.com/ethz-asl/libnabo).  Clone the source repository into a local directory of your choice.
 
 ```bash
-mkdir ~/Libraries/
 cd ~/Libraries
 git clone git://github.com/ethz-asl/libnabo.git
 cd libnabo
@@ -150,7 +174,7 @@ sudo make install
 
 *Note:* If Eigen or Boost are not in their regular system locations you will have to indicate their location by setting the corresponding CMake flags. You can use the following command to default flags: Go [here](#possible-caveats) to see how it can be achieve.
 
-### 3. Installing libpointmatcher
+### 4. Installing libpointmatcher
 
 First, you need to clone the source repository into a local directory.  As an example we reuse the Libraries directory that was created to contain the libnabo sources.
 
diff --git a/doc/CompilationUbuntu.md b/doc/CompilationUbuntu.md
index f42a4e63..c9dcf9ca 100644
--- a/doc/CompilationUbuntu.md
+++ b/doc/CompilationUbuntu.md
@@ -7,18 +7,19 @@
 
 If you are used to development projects, here is what you need:
 
-|Name           |Version  <br> (Tested Feb. 20, 2015) |Version  <br> (Tested Sept. 6, 2016) | Version  <br> (Tested Jan. 8, 2019) |
-|---------------|-----------------------|-----------------------|-----------------------|
-|Ubuntu         | 12.04.5 LTS (64 bit)  | 14.04.5 LTS (64 bit)  | 18.04.1 LTS (64 bit) |
-|gcc            | 4.6.3                 | 4.8.4                 | 7.3.0 |
-|git            | 1.7.9.5               | 1.9.1                 | 2.17.1 |
-|cmake          | 2.8.11.2              | 2.8.12.2              | 3.10.2 |
-|doxygen (opt.) | 1.7.6.1               | 1.8.6-2               | 1.8.13-10 |
-|||||
-| _Dependency:_|  |  |
-|boost          | 1.48.0.2             | 1.54.0                 | 1.65.1 |
-|eigen          | 3.0.5                | 3.2.0-8                | 3.3.4-4 |
-|libnabo        | [from source](https://github.com/ethz-asl/libnabo) | [from source](https://github.com/ethz-asl/libnabo) | [from source](https://github.com/ethz-asl/libnabo) |
+| Name           | Version  <br> (Tested Feb. 20, 2015)    |Version  <br> (Tested Sept. 6, 2016) | Version  <br> (Tested Jan. 8, 2019) |
+|----------------|-----------------------------------------|-----------------------|-----------------------|
+| Ubuntu         | 12.04.5 LTS (64 bit)                    | 14.04.5 LTS (64 bit)  | 18.04.1 LTS (64 bit) |
+| gcc            | 4.6.3                                   | 4.8.4                 | 7.3.0 |
+| git            | 1.7.9.5                                 | 1.9.1                 | 2.17.1 |
+| cmake          | 2.8.11.2                                | 2.8.12.2              | 3.10.2 |
+| doxygen (opt.) | 1.7.6.1                                 | 1.8.6-2               | 1.8.13-10 |
+|                |                                         |||
+| _Dependency:_  |                                         |  |
+| boost          | 1.48.0.2                                | 1.54.0                 | 1.65.1 |
+| eigen          | 3.0.5                                   | 3.2.0-8                | 3.3.4-4 |
+| yaml-cpp       | 0.5+                                    | 0.5+                | 0.5+ |
+| libnabo        | [from source](https://github.com/ethz-asl/libnabo) | [from source](https://github.com/ethz-asl/libnabo) | [from source](https://github.com/ethz-asl/libnabo) |
 
 __Note:__ we only support 64-bit systems because of some issues with Eigen. Other versions will most probably work but you'll have to try yourself to know for sure.
 
@@ -86,7 +87,15 @@ The Eigen linear algebra library is required before installing libpointmatcher a
 sudo apt-get install libeigen3-dev
 ```
 
-### 2. Installing libnabo
+### 2. Installing yaml-cpp
+
+The yaml-cpp library can be installed via apt by running:
+
+```bash
+sudo apt-get install libyaml-cpp-dev
+```
+
+### 3. Installing libnabo
 
 libnabo is a library for performing fast nearest-neighbor searches in low-dimensional spaces.  It can be found [here](https://github.com/ethz-asl/libnabo).  Clone the source repository into a local directory of your choice.
 
@@ -137,7 +146,7 @@ sudo apt-get install libyaml-cpp0.3-dev
 The yaml-cpp package for Trusty Tahr provides yaml-cpp0.5. Libpointmatcher is so far only compatible with yaml-cpp0.3 and thus an older version of yaml-cpp should be installed manually.
 -->
 
-### 3. Installing libpointmatcher
+### 4. Installing libpointmatcher
 
 First, you need to clone the source repository into a local directory.  As an example, we reuse the Libraries directory that was created to contain the libnabo sources.