diff --git a/beluga/CMakeLists.txt b/beluga/CMakeLists.txt
index 5c08a6422..f2b65b51d 100644
--- a/beluga/CMakeLists.txt
+++ b/beluga/CMakeLists.txt
@@ -49,7 +49,7 @@ endif()
 find_package(Eigen3 REQUIRED NO_MODULE)
 find_package(HDF5 COMPONENTS CXX)
 find_package(range-v3 REQUIRED)
-find_package(Sophus REQUIRED)
+include(cmake/LoadSophusTarget.cmake) # Find package with Eigen5 support
 find_package(TBB REQUIRED)
 
 set(_deps
@@ -118,6 +118,8 @@ install(
   NAMESPACE ${PROJECT_NAME}::
   DESTINATION ${INSTALL_CMAKEDIR})
 
+install(FILES cmake/LoadSophusTarget.cmake DESTINATION ${INSTALL_CMAKEDIR})
+
 include(CMakePackageConfigHelpers)
 configure_package_config_file(
   ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Config.cmake.in
diff --git a/beluga/cmake/Config.cmake.in b/beluga/cmake/Config.cmake.in
index 8d7b0e44f..619fdd447 100644
--- a/beluga/cmake/Config.cmake.in
+++ b/beluga/cmake/Config.cmake.in
@@ -4,7 +4,7 @@ include(CMakeFindDependencyMacro)
 find_dependency(Eigen3 REQUIRED NO_MODULE)
 find_dependency(range-v3 REQUIRED)
 find_dependency(HDF5 COMPONENTS CXX REQUIRED)
-find_dependency(Sophus REQUIRED)
+include("${CMAKE_CURRENT_LIST_DIR}/LoadSophusTarget.cmake")  # Find package with Eigen5 support
 find_dependency(TBB REQUIRED)
 
 include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
diff --git a/beluga/cmake/LoadSophusTarget.cmake b/beluga/cmake/LoadSophusTarget.cmake
new file mode 100644
index 000000000..178d0b0bb
--- /dev/null
+++ b/beluga/cmake/LoadSophusTarget.cmake
@@ -0,0 +1,25 @@
+# Copyright 2026 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# This file can be removed after https://github.com/strasdat/Sophus/pull/558
+
+if(NOT TARGET Sophus::Sophus)
+  find_path(
+    Sophus_CMAKE_DIR
+    NAMES SophusTargets.cmake
+    PATH_SUFFIXES share/sophus/cmake REQUIRED)
+  find_package(Ceres REQUIRED)
+  find_package(fmt REQUIRED)
+  include("${Sophus_CMAKE_DIR}/SophusTargets.cmake")
+endif()