diff --git a/LICENSE b/LICENSE
new file mode 100644
index 00000000..c79a40be
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,24 @@
+Copyright (c) 2014, Autonomous Systems Lab
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+* Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright
+notice, this list of conditions and the following disclaimer in the
+documentation and/or other materials provided with the distribution.
+* Neither the name of the Autonomous Systems Lab, ETH Zurich nor the
+names of its contributors may be used to endorse or promote products
+derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/README.md b/README.md
index d2c54b7b..58521528 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # README #
 
-This repository contains the ROVIO (Robust Visual Inertial Odometry) framework. The code is open-source. Please remember that it is strongly coupled to on-going research and thus some parts are not fully mature yet. Furthermore, the code will also be subject to changes in the future which could include greater re-factoring of some parts.
+This repository contains the ROVIO (Robust Visual Inertial Odometry) framework. The code is open-source (BSD License). Please remember that it is strongly coupled to on-going research and thus some parts are not fully mature yet. Furthermore, the code will also be subject to changes in the future which could include greater re-factoring of some parts.
 
 Video: https://youtu.be/ZMAISVy-6ao
 
diff --git a/package.xml b/package.xml
index 7a736705..c443ac11 100644
--- a/package.xml
+++ b/package.xml
@@ -10,7 +10,7 @@
   <url></url>
   <author>bloeschm</author>
   <maintainer email="bloeschm@ethz.ch">bloeschm</maintainer>
-  <license>Propriatary</license>
+  <license>BSD License</license>
   <buildtool_depend>catkin</buildtool_depend>
 
   <depend>cmake_modules</depend>