diff --git a/.github/workflows/continuous-integration.yml b/.github/workflows/continuous-integration.yml
index 6f20413f85..aad4eeca51 100644
--- a/.github/workflows/continuous-integration.yml
+++ b/.github/workflows/continuous-integration.yml
@@ -22,7 +22,7 @@ jobs:
   build-linux:
     runs-on: ubuntu-latest
     container:
-      image: alicevision/alicevision-deps:2024.01.24-centos7-cuda11.3.1
+      image: alicevision/alicevision-deps:2024.01.31-centos7-cuda11.3.1
     env:
       DEPS_INSTALL_DIR: /opt/AliceVision_install
       BUILD_TYPE: Release
@@ -167,7 +167,7 @@ jobs:
         uses: suisei-cn/actions-download-file@v1.3.0
         id: vcpkgDownload
         with:
-          url: "https://gitlab.com/alicevision/vcpkgArchive/-/raw/main/aliceVisionDeps-2023.10.02.zip?ref_type=heads&inline=false"
+          url: "https://gitlab.com/alicevision/vcpkgArchive/-/raw/main/aliceVisionDeps-2024.01.31.zip?ref_type=heads&inline=false"
           target: "${{ env.vcpkgDir }}"
           filename: installed.zip
 
diff --git a/INSTALL.md b/INSTALL.md
index b2aa3a48ee..b744cafd8e 100644
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -100,6 +100,7 @@ vcpkg install ^
           assimp ^
           pcl ^
           clp ^
+          libe57format ^
           --triplet x64-windows
 ```
 
diff --git a/docker/Dockerfile_centos_deps b/docker/Dockerfile_centos_deps
index b786d6c29b..817f947117 100644
--- a/docker/Dockerfile_centos_deps
+++ b/docker/Dockerfile_centos_deps
@@ -38,7 +38,8 @@ RUN $YUM_INSTALL centos-release-scl-rh && \
     $YUM_INSTALL python3 && \
     $YUM_INSTALL python3-devel && \
     yum clean all && \
-    $YUM_INSTALL devtoolset-10-toolchain devtoolset-10-libatomic-devel --nogpgcheck && \
+    $YUM_INSTALL devtoolset-10-toolchain devtoolset-10-libatomic-devel \
+		devtoolset-10-libasan-devel devtoolset-10-libubsan-devel --nogpgcheck && \
     $YUM_INSTALL --enablerepo=extras epel-release && \
     $YUM_INSTALL file \
         git \
@@ -51,7 +52,8 @@ RUN $YUM_INSTALL centos-release-scl-rh && \
         automake \
         which \
         openssl-devel \
-        pcre2-devel
+        pcre2-devel \
+        xerces-c-devel
 
 # Install numpy for Python3
 RUN pip3 install numpy
@@ -137,6 +139,8 @@ RUN test -e /usr/local/cuda/lib64/libcublas.so || ln -s /usr/lib64/libcublas.so
 # RUN make -j ${CPU_CORES} opencv
 # RUN make -j ${CPU_CORES} expat
 # RUN make -j ${CPU_CORES} SWIG
+# RUN make -j ${CPU_CORES} E57Format
+
 # RUN make -j ${CPU_CORES} cctag
 # RUN make -j ${CPU_CORES} popsift
 
diff --git a/docker/Dockerfile_ubuntu_deps b/docker/Dockerfile_ubuntu_deps
index 8d688b73e0..56c02ca03d 100644
--- a/docker/Dockerfile_ubuntu_deps
+++ b/docker/Dockerfile_ubuntu_deps
@@ -43,6 +43,7 @@ RUN . ./etc/os-release && \
         cmake \
         gfortran \
         clang-format \
+        libxerces-c-dev \
         gcc-10 \
         g++-10 \
         cpp-10 \
@@ -113,6 +114,8 @@ RUN test -e /usr/local/cuda/lib64/libcublas.so || ln -s /usr/lib/x86_64-linux-gn
 # RUN make -j ${CPU_CORES} opencv
 # RUN make -j ${CPU_CORES} expat
 # RUN make -j ${CPU_CORES} SWIG
+# RUN make -j ${CPU_CORES} E57Format
+
 # RUN make -j ${CPU_CORES} popsift
 # RUN make -j ${CPU_CORES} cctag
 
diff --git a/docker/build-centos.sh b/docker/build-centos.sh
index 392b28fc33..860ac6879a 100755
--- a/docker/build-centos.sh
+++ b/docker/build-centos.sh
@@ -7,7 +7,7 @@ test -e docker/fetch.sh || {
     exit 1
 }
 
-test -z "$AV_DEPS_VERSION" && AV_DEPS_VERSION=2024.01.24
+test -z "$AV_DEPS_VERSION" && AV_DEPS_VERSION=2024.01.31
 test -z "$AV_VERSION" && AV_VERSION="$(git rev-parse --abbrev-ref HEAD)-$(git rev-parse --short HEAD)"
 test -z "$CUDA_VERSION" && CUDA_VERSION=11.3.1
 test -z "$CENTOS_VERSION" && CENTOS_VERSION=7
diff --git a/docker/build-ubuntu.sh b/docker/build-ubuntu.sh
index eb7446122a..87abac94b8 100755
--- a/docker/build-ubuntu.sh
+++ b/docker/build-ubuntu.sh
@@ -6,7 +6,7 @@ test -e docker/fetch.sh || {
 	exit 1
 }
 
-test -z "$AV_DEPS_VERSION" && AV_DEPS_VERSION=2024.01.24
+test -z "$AV_DEPS_VERSION" && AV_DEPS_VERSION=2024.01.31
 test -z "$AV_VERSION" && AV_VERSION="$(git rev-parse --abbrev-ref HEAD)-$(git rev-parse --short HEAD)"
 test -z "$CUDA_VERSION" && CUDA_VERSION=11.3.1
 test -z "$UBUNTU_VERSION" && UBUNTU_VERSION=20.04
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 8045ba9b5e..2924d2bb45 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -56,6 +56,7 @@ option(ALICEVISION_BUILD_PANORAMA "Build AliceVision panorama part" ON)
 option(ALICEVISION_BUILD_SOFTWARE "Build AliceVision command line tools." ON)
 option(ALICEVISION_BUILD_COVERAGE "Enable code coverage generation (gcc only)" OFF)
 option(ALICEVISION_BUILD_SWIG_BINDING "Build the Python binding with SWIG." OFF)
+trilean_option(ALICEVISION_BUILD_LIDAR "Build AliceVision LIDAR part" AUTO)
 trilean_option(ALICEVISION_BUILD_DOC "Build AliceVision documentation" AUTO)
 
 trilean_option(ALICEVISION_USE_OPENMP "Enable OpenMP parallelization" ON)
@@ -94,6 +95,7 @@ if(NOT ALICEVISION_BUILD_SFM)
     SET(ALICEVISION_BUILD_SEGMENTATION OFF)
     SET(ALICEVISION_BUILD_STEREOPHOTOMETRY OFF)
     SET(ALICEVISION_BUILD_PANORAMA OFF)
+    SET(ALICEVISION_BUILD_LIDAR OFF)
 endif()
 
 # ==============================================================================
@@ -454,10 +456,6 @@ if(ALICEVISION_BUILD_SFM)
   endif()
 endif()
 
-if(ALICEVISION_BUILD_SFM)
-    find_package(E57Format CONFIG)
-endif()
-
 # ==============================================================================
 # CoinUtils, Clp, Osi
 # ==============================================================================
@@ -467,11 +465,26 @@ if(ALICEVISION_BUILD_SFM)
   find_package(Osi REQUIRED)
 endif()
 
-
+# ==============================================================================
+# Lemon
+# ==============================================================================
 if(ALICEVISION_BUILD_SFM)
   find_package(LEMON REQUIRED)
 endif()
 
+# ==============================================================================
+# libE57Format
+# ==============================================================================
+if(NOT ALICEVISION_BUILD_LIDAR STREQUAL "OFF")
+  find_package(E57Format)
+
+  if(E57Format_FOUND)
+    message(STATUS "E57Format found")
+  elseif(ALICEVISION_BUILD_LIDAR STREQUAL "ON")
+    message(SEND_ERROR "Failed to find E57Format")
+  endif()
+endif()
+
 
 # ==============================================================================
 # Assimp
@@ -942,6 +955,7 @@ message("** Target architecture: " ${TARGET_ARCHITECTURE})
 message("** Build Shared libs: " ${BUILD_SHARED_LIBS})
 message("** Build SfM part: " ${ALICEVISION_BUILD_SFM})
 message("** Build MVS part: " ${ALICEVISION_BUILD_MVS})
+message("** Build LIDAR part: " ${ALICEVISION_BUILD_LIDAR})
 message("** Build AliceVision tests: " ${ALICEVISION_BUILD_TESTS})
 message("** Build AliceVision documentation: " ${ALICEVISION_HAVE_DOC})
 message("** Build AliceVision+OpenCV samples programs: " ${ALICEVISION_HAVE_OPENCV})
@@ -972,6 +986,10 @@ if(ALICEVISION_BUILD_SFM)
   message(STATUS "LEMON: " ${LEMON_VERSION} "")
 endif()
 
+if(NOT ALICEVISION_BUILD_LIDAR STREQUAL "OFF")
+  message(STATUS "E57FORMAT: " ${E57Format} "")
+endif()
+
 if(ALICEVISION_BUILD_SWIG_BINDING)
   message("\n")
   message(STATUS "SWIG: " ${SWIG_VERSION} "")
diff --git a/src/aliceVision/dataio/CMakeLists.txt b/src/aliceVision/dataio/CMakeLists.txt
index 7c34d1a1db..6ffc7cce8f 100644
--- a/src/aliceVision/dataio/CMakeLists.txt
+++ b/src/aliceVision/dataio/CMakeLists.txt
@@ -19,7 +19,7 @@ if(ALICEVISION_HAVE_OPENCV)
   list(APPEND dataio_files_sources VideoFeed.cpp)
 endif()
 
-if(TARGET E57Format)
+if(NOT ALICEVISION_BUILD_LIDAR STREQUAL "OFF")
   list(APPEND dataio_files_headers E57Reader.hpp)
   list(APPEND dataio_files_sources E57Reader.cpp)
 endif()
@@ -40,6 +40,6 @@ if(ALICEVISION_HAVE_OPENCV)
   target_link_libraries(aliceVision_dataio PRIVATE ${OpenCV_LIBS})
 endif()
 
-if (TARGET E57Format)
-    target_link_libraries(aliceVision_dataio PRIVATE E57Format)
-endif()
\ No newline at end of file
+if(NOT ALICEVISION_BUILD_LIDAR STREQUAL "OFF")
+  target_link_libraries(aliceVision_dataio PRIVATE E57Format)
+endif()
diff --git a/src/cmake/Dependencies.cmake b/src/cmake/Dependencies.cmake
index 2f65b92082..d4d78193f3 100644
--- a/src/cmake/Dependencies.cmake
+++ b/src/cmake/Dependencies.cmake
@@ -28,6 +28,7 @@ option(AV_BUILD_OSI "Enable building an embedded Osi" ON)
 option(AV_BUILD_CLP "Enable building an embedded Clp" ON)
 option(AV_BUILD_FLANN "Enable building an embedded Flann" ON)
 option(AV_BUILD_LEMON "Enable building an embedded LEMON library" ON)
+option(AV_BUILD_E57FORMAT "Enable building an embedded E57Format" ON)
 option(AV_BUILD_PCL "Enable building an embedded PointCloud library" OFF)
 option(AV_BUILD_USD "Enable building an embedded USD library" OFF)
 option(AV_BUILD_GEOGRAM "Enable building an embedded Geogram library" ON)
@@ -76,6 +77,7 @@ message(STATUS "AV_BUILD_FLANN: ${AV_BUILD_FLANN}")
 message(STATUS "AV_BUILD_PCL: ${AV_BUILD_PCL}")
 message(STATUS "AV_BUILD_USD: ${AV_BUILD_USD}")
 message(STATUS "AV_BUILD_LEMON: ${AV_BUILD_LEMON}")
+message(STATUS "AV_BUILD_E57FORMAT: ${AV_BUILD_E57FORMAT}")
 message(STATUS "AV_BUILD_GEOGRAM: ${AV_BUILD_GEOGRAM}")
 message(STATUS "AV_BUILD_TBB ${AV_BUILD_TBB}")
 message(STATUS "AV_BUILD_EIGEN ${AV_BUILD_EIGEN}")
@@ -1277,6 +1279,29 @@ if(AV_BUILD_SWIG)
     )
 endif()
 
+if(AV_BUILD_E57FORMAT)
+    # Add libE57Format
+    set(E57FORMAT_TARGET E57Format)
+
+    ExternalProject_add(${E57FORMAT_TARGET}
+        GIT_REPOSITORY https://github.com/asmaloney/libE57Format.git
+        GIT_TAG v3.1.1
+        DOWNLOAD_DIR ${BUILD_DIR}/download/${E57FORMAT_TARGET}
+        PREFIX ${BUILD_DIR}
+        BUILD_IN_SOURCE 0
+        BUILD_ALWAYS 0
+        UPDATE_COMMAND ""
+        SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/${E57FORMAT_TARGET}
+        BINARY_DIR ${BUILD_DIR}/${E57FORMAT_TARGET}_build
+        INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
+        CONFIGURE_COMMAND ${CMAKE_COMMAND}
+            -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> <SOURCE_DIR>
+        BUILD_COMMAND $(MAKE) -j${AV_BUILD_DEPENDENCIES_PARALLEL}
+    )
+
+    set(E57FORMAT_CMAKE_FLAGS -DE57FORMAT_DIR:PATH=${CMAKE_INSTALL_PREFIX}/share/E57Format)
+endif()
+
 set(AV_DEPS
     ${ZLIB_TARGET}
     ${ASSIMP_TARGET}
@@ -1310,6 +1335,7 @@ set(AV_DEPS
     ${LZ4_TARGET}
     ${LEMON_TARGET}
     ${SWIG_TARGET}
+    ${E57FORMAT_TARGET}
 )
 
 if(AV_BUILD_ALICEVISION)
@@ -1359,6 +1385,7 @@ if(AV_BUILD_ALICEVISION)
         ${PCL_CMAKE_FLAGS}
         ${USD_CMAKE_FLAGS}
         ${SWIG_CMAKE_FLAGS}
+        ${E57FORMAT_CMAKE_FLAGS}
 
         -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> <SOURCE_DIR>
         DEPENDS ${AV_DEPS}