diff --git a/CHANGELOG.md b/CHANGELOG.md
index 90ff9160f4..728c69ce41 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,6 +10,7 @@ All notable changes to this project are documented in this file.
 - Give the possibility to set an external wrench in the `CentroidalDynamics` instead of a pure force (https://github.com/ami-iit/bipedal-locomotion-framework/pull/705)
 
 ### Fixed
+- Remove duplicated `find_package` in `BipedalLocomotionFrameworkDependencies.cmake` file (https://github.com/ami-iit/bipedal-locomotion-framework/pull/709)
 
 ## [0.14.1] - 2023-07-07
 ### Fixed
diff --git a/cmake/BipedalLocomotionFrameworkDependencies.cmake b/cmake/BipedalLocomotionFrameworkDependencies.cmake
index 63c3fa683c..726bb33f7a 100644
--- a/cmake/BipedalLocomotionFrameworkDependencies.cmake
+++ b/cmake/BipedalLocomotionFrameworkDependencies.cmake
@@ -114,10 +114,6 @@ checkandset_dependency(UnicyclePlanner)
 find_package(onnxruntime QUIET)
 checkandset_dependency(onnxruntime)
 
-find_package(BayesFilters QUIET)
-checkandset_dependency(BayesFilters)
-dependency_classifier(BayesFilters IS_USED ${FRAMEWORK_USE_BayesFilters} PUBLIC)
-
 ##########################      Components       ##############################
 framework_dependent_option(FRAMEWORK_RUN_Valgrind_tests
   "Run Valgrind tests?" OFF