diff --git a/octomap/AUTHORS.txt b/octomap/AUTHORS.txt
index 3aa4b54b..30560c84 100644
--- a/octomap/AUTHORS.txt
+++ b/octomap/AUTHORS.txt
@@ -8,4 +8,5 @@ Further contributors:
 * R. Schmitt, University of Freiburg
 * R. Bogdan Rusu, Willow Garage Inc.
 * C. Dornhege, University of Freiburg
-* F-M. de Rainville, Universite Laval Quebec
\ No newline at end of file
+* F-M. de Rainville, Universite Laval Quebec
+* B. Jensen, TU Munich
\ No newline at end of file
diff --git a/octomap/CHANGELOG.txt b/octomap/CHANGELOG.txt
index 49e57e4b..74eb3f39 100644
--- a/octomap/CHANGELOG.txt
+++ b/octomap/CHANGELOG.txt
@@ -1,3 +1,15 @@
+v1.6.2: 2013-11-26
+==================
+- Improved OSX 10.9 compatibility (thx to B. Jensen)
+- Improved  VC++ compatibility (thx to tmdiv)
+- New fct. getRayIntersection to get real intersection of raycasting on
+  voxel (thanks to F-M. de Rainville)
+- Fix #54: Quote paths in CMake configs to avoid problems with spaces
+- Fix #53: Auto-pruning after updateNode
+- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
+- octovis now includes QGLViewer 2.4 (Qt5 support)
+- octovis now looks for the octomap version of the same number
+
 v1.6.1: 2013-06-19
 ==================
 - New function swapContent to exchange the contents of two octrees (issue #32)
diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
index 7e7a20fd..85e3f910 100644
--- a/octomap/CMakeLists.txt
+++ b/octomap/CMakeLists.txt
@@ -6,7 +6,7 @@ ENABLE_TESTING()
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
 set(OCTOMAP_MINOR_VERSION 6)
-set(OCTOMAP_PATCH_VERSION 1)
+set(OCTOMAP_PATCH_VERSION 2)
 set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0003 NEW)
diff --git a/octomap/package.xml b/octomap/package.xml
index d5ee6d3d..a3467301 100644
--- a/octomap/package.xml
+++ b/octomap/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>octomap</name>
-  <version>1.6.1</version>
+  <version>1.6.2</version>
   <description>The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
   http://octomap.github.io for details.</description>
 
diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
index 95668db6..ed4304cb 100644
--- a/octovis/CMakeLists.txt
+++ b/octovis/CMakeLists.txt
@@ -4,7 +4,7 @@ PROJECT( octovis )
 # # version (e.g. for packaging)
 set(OCTOVIS_MAJOR_VERSION 1)
 set(OCTOVIS_MINOR_VERSION 6)
-set(OCTOVIS_PATCH_VERSION 1)
+set(OCTOVIS_PATCH_VERSION 2)
 set(OCTOVIS_VERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION}.${OCTOVIS_PATCH_VERSION})
 # get rid of a useless warning:
 if(COMMAND cmake_policy)
diff --git a/octovis/package.xml b/octovis/package.xml
index 84e5bdc4..a6aed7c2 100644
--- a/octovis/package.xml
+++ b/octovis/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>octovis</name>
-  <version>1.6.1</version>
+  <version>1.6.2</version>
   <description>octovis is visualization tool for the OctoMap library based on Qt and libQGLViewer. See
   http://octomap.github.io for details.</description>