diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0e091639edc..8ee2c26bfa9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -471,7 +471,7 @@ if(WITH_OPENGL)
 endif()
 
 # Boost (required)
-include("${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake")
+find_package(Boost REQUIRED)
 
 ### ---[ Create the config.h file
 set(pcl_config_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pcl_config.h.in")
diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index 9f78fcfa066..1c4d721c570 100644
--- a/PCLConfig.cmake.in
+++ b/PCLConfig.cmake.in
@@ -99,23 +99,7 @@ macro(find_boost)
     set(Boost_USE_STATIC @Boost_USE_STATIC@)
     set(Boost_USE_MULTITHREAD @Boost_USE_MULTITHREAD@)
   endif()
-  set(Boost_ADDITIONAL_VERSIONS
-    "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@.@Boost_SUBMINOR_VERSION@" "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@"
-    "1.71.0" "1.71" "1.70.0" "1.70"
-    "1.69.0" "1.69" "1.68.0" "1.68" "1.67.0" "1.67" "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65"
-    "1.64.0" "1.64" "1.63.0" "1.63" "1.62.0" "1.62" "1.61.0" "1.61" "1.60.0" "1.60"
-    "1.59.0" "1.59" "1.58.0" "1.58" "1.57.0" "1.57" "1.56.0" "1.56" "1.55.0" "1.55")
-  # Disable the config mode of find_package(Boost)
-  set(Boost_NO_BOOST_CMAKE ON)
   find_package(Boost 1.55.0 ${QUIET_} COMPONENTS @PCLCONFIG_AVAILABLE_BOOST_MODULES@)
-
-  set(BOOST_FOUND ${Boost_FOUND})
-  set(BOOST_INCLUDE_DIRS "${Boost_INCLUDE_DIR}")
-  set(BOOST_LIBRARY_DIRS "${Boost_LIBRARY_DIRS}")
-  set(BOOST_LIBRARIES ${Boost_LIBRARIES})
-  if(WIN32 AND NOT MINGW)
-    set(BOOST_DEFINITIONS ${BOOST_DEFINITIONS} -DBOOST_ALL_NO_LIB)
-  endif()
 endmacro()
 
 #remove this as soon as eigen is shipped with FindEigen.cmake
diff --git a/cmake/Modules/FindBoost.cmake b/cmake/Modules/FindBoost.cmake
new file mode 100644
index 00000000000..66c872d6590
--- /dev/null
+++ b/cmake/Modules/FindBoost.cmake
@@ -0,0 +1,62 @@
+
+# If we would like to compile against a dynamically linked Boost
+if(PCL_BUILD_WITH_BOOST_DYNAMIC_LINKING_WIN32 AND WIN32)
+    set(Boost_USE_STATIC_LIBS OFF)
+    set(Boost_USE_STATIC OFF)
+    set(Boost_USE_MULTITHREAD ON)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBOOST_ALL_DYN_LINK -DBOOST_ALL_NO_LIB")
+else()
+    if(NOT PCL_SHARED_LIBS OR WIN32)
+        set(Boost_USE_STATIC_LIBS ON)
+        set(Boost_USE_STATIC ON)
+    endif()
+endif()
+
+# use static Boost in Windows
+if(WIN32)
+    set(Boost_USE_STATIC_LIBS @Boost_USE_STATIC_LIBS@)
+    set(Boost_USE_STATIC @Boost_USE_STATIC@)
+    set(Boost_USE_MULTITHREAD @Boost_USE_MULTITHREAD@)
+endif()
+
+set(Boost_ADDITIONAL_VERSIONS
+        "1.71.0" "1.71" "1.70.0" "1.70"
+        "1.69.0" "1.69" "1.68.0" "1.68" "1.67.0" "1.67" "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65"
+        "1.64.0" "1.64" "1.63.0" "1.63" "1.62.0" "1.62" "1.61.0" "1.61" "1.60.0" "1.60"
+        "1.59.0" "1.59" "1.58.0" "1.58" "1.57.0" "1.57" "1.56.0" "1.56" "1.55.0" "1.55")
+
+# Disable the config mode of find_package(Boost)
+set(Boost_NO_BOOST_CMAKE ON)
+
+# Required boost modules
+set(BOOST_OPTIONAL_MODULES serialization mpi) # MPI needed?
+set(BOOST_REQUIRED_MODULES filesystem date_time iostreams system)
+
+# Temporarily clean out CMAKE_MODULE_PATH, so that we can pick up the built-in Find-module from CMake:
+set( CMAKE_MODULE_PATH_BAK ${CMAKE_MODULE_PATH} )
+set( CMAKE_MODULE_PATH )
+
+# Call CMake's own Find-module
+find_package(Boost 1.55.0  REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES} OPTIONAL_COMPONENTS ${BOOST_OPTIONAL_MODULES})
+
+set( CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH_BAK} )
+
+if(Boost_SERIALIZATION_FOUND)
+    set(BOOST_SERIALIZATION_FOUND TRUE)
+endif()
+
+if(Boost_FOUND)
+    set(BOOST_FOUND TRUE)
+    # Obtain diagnostic information about Boost's automatic linking outputted
+    # during compilation time.
+    add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
+    include_directories(SYSTEM ${Boost_INCLUDE_DIRS})
+    link_directories(${Boost_LIBRARY_DIRS})
+endif()
+
+set(BOOST_INCLUDE_DIRS "${Boost_INCLUDE_DIR}")
+set(BOOST_LIBRARY_DIRS "${Boost_LIBRARY_DIRS}")
+set(BOOST_LIBRARIES ${Boost_LIBRARIES})
+if(WIN32 AND NOT MINGW)
+    set(BOOST_DEFINITIONS ${BOOST_DEFINITIONS} -DBOOST_ALL_NO_LIB)
+endif()
diff --git a/cmake/pcl_pclconfig.cmake b/cmake/pcl_pclconfig.cmake
index 2332eafc020..4fb794d7173 100644
--- a/cmake/pcl_pclconfig.cmake
+++ b/cmake/pcl_pclconfig.cmake
@@ -1,4 +1,3 @@
-
 set(PCL_SUBSYSTEMS_MODULES ${PCL_SUBSYSTEMS})
 list(REMOVE_ITEM PCL_SUBSYSTEMS_MODULES tools cuda_apps global_tests proctor examples)
 
@@ -78,12 +77,9 @@ endforeach()
 
 #Boost modules
 set(PCLCONFIG_AVAILABLE_BOOST_MODULES "system filesystem date_time iostreams")
-if(Boost_SERIALIZATION_FOUND)
+if(BOOST_SERIALIZATION_FOUND)
   set(PCLCONFIG_AVAILABLE_BOOST_MODULES "${PCLCONFIG_AVAILABLE_BOOST_MODULES} serialization")
 endif()
-if(Boost_CHRONO_FOUND)
-  set(PCLCONFIG_AVAILABLE_BOOST_MODULES "${PCLCONFIG_AVAILABLE_BOOST_MODULES} chrono")
-endif()
 
 configure_file("${PCL_SOURCE_DIR}/PCLConfig.cmake.in"
                "${PCL_BINARY_DIR}/PCLConfig.cmake" @ONLY)