diff --git a/generate_stubs.py b/generate_stubs.py
new file mode 100644
index 00000000..e964a014
--- /dev/null
+++ b/generate_stubs.py
@@ -0,0 +1,9 @@
+import subprocess
+
+subprocess.run("mkdir -p sophus_pybind-stubs/sophus_pybind", shell=True, check=True)
+
+subprocess.run(
+    "pybind11-stubgen sophus_pybind -o sophus_pybind-stubs/sophus_pybind",
+    shell=True,
+    check=True,
+)
diff --git a/sophus_pybind-stubs/pyproject.toml b/sophus_pybind-stubs/pyproject.toml
new file mode 100644
index 00000000..6d8896b8
--- /dev/null
+++ b/sophus_pybind-stubs/pyproject.toml
@@ -0,0 +1,14 @@
+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "sophus-pybind-stubs"
+version = "1.22.10"
+description = "Stubs for sophus-pybind"
+
+[tool.setuptools.packages.find]
+where = ["./"]
+
+[tool.setuptools.package-data]
+"*" = ["*.pyi"]