diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5274665..79aecf1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -56,6 +56,9 @@ endif()
 
 if (BUILD_WITH_PCL)
   find_package(PCL REQUIRED)
+  if(PCL_VERSION VERSION_LESS "1.11.0")
+    message(FATAL_ERROR "The found PCL version ${PCL_VERSION} is too low. Required is at least 1.11.0")
+  endif()
   add_compile_definitions(BUILD_WITH_PCL)
   if (NOT TARGET PCL::PCL)
     add_library(PCL::PCL INTERFACE IMPORTED)