diff --git a/CHANGELOG.md b/CHANGELOG.md
index 02d18239b34da7054c8aca06b57ed42b198cb1ac..f3d606eb1f9660b63e75f2aca392cf6cd4a3db6a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,35 @@
 # SLAM changes history
 
+## *v1.3 (2020/11/20)*
+
+This release brings various minor fixes or features to improve stability, performance or code readibility.
+
+Major changes are reported below.
+
+### Core lib
+
+* Fix compilation on Windows with MSVC 2015 (!39)
+* Simplify `KDTreePCLAdaptor` usage and clean its code (!41)
+* Misc bug fixes and code refactoring in ICP functions (!43)
+* Fix ego motion extrapolation when using Pose Graph Optimization (!44)
+* Ignore Ego-Motion extrapolation, approximated undistortion and Localization results if error occurs (!49 and !52)
+* Replace max variance error by max position and orientation errors (!47)
+* Fix rolling grid and maps update (!50, !55, !58)
+* Add missing `std` prefix in `PointCloudStorage` that prevente compilation on some machines (!42)
+* Add colors to verbose display (!53)
+* Major refactoring of ICP and LM optimization parts into separate classes (!54)
+* Reset timers values when resetting SLAM (!63)
+
+### ROS wrapping
+
+* Publish SLAM pose as `gps_common/GPSFix` instead of `sensor_msgs/NavSatFix` (!45)
+* Publish SLAM-estimated speed in GPS-like message (!46)
+
+### ParaView wrapping
+
+* Add verbose timings to check VTK <-> PCL conversions and perform less maps updates (!48)
+* Fix frame stamp to last point measurement time (!49)
+
 ## *v1.2 (2020/06/26)*
 
 This new release brings important improvements (in terms of processing speed as well as precision) such as *undistortion* or *motion extrapolation*. It also greatly improves user interface for easier parameters settings.
diff --git a/paraview_wrapping/CMakeLists.txt b/paraview_wrapping/CMakeLists.txt
index fab788285777f68406595b714fb5540013e48a5b..30e4bf52c2cf0c95d6a76ad5e9402d5a7369e024 100644
--- a/paraview_wrapping/CMakeLists.txt
+++ b/paraview_wrapping/CMakeLists.txt
@@ -18,7 +18,7 @@ set(ServerManagerSources
 set(ServerManagerXML
   Slam.xml)
 
-ADD_PARAVIEW_PLUGIN(LidarSlamPlugin "1.2"
+ADD_PARAVIEW_PLUGIN(LidarSlamPlugin "1.3"
   SERVER_MANAGER_XML ${ServerManagerXML}
   SERVER_MANAGER_SOURCES ${ServerManagerSources}
   DOCUMENTATION_DIR "${CMAKE_CURRENT_SOURCE_DIR}/doc/"
diff --git a/ros_wrapping/gps_conversions/package.xml b/ros_wrapping/gps_conversions/package.xml
index 4be9bb696273942d8d6decdade83b8d7871d4df3..cb0e50408a13858e8887960527fe64cd03061880 100644
--- a/ros_wrapping/gps_conversions/package.xml
+++ b/ros_wrapping/gps_conversions/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>gps_conversions</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>GPS to/from UTM conversions in WGS84 format.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
diff --git a/ros_wrapping/lidar_slam/package.xml b/ros_wrapping/lidar_slam/package.xml
index 4358d70622eea910e78a0999abd9caf5424922bf..0c1a5ac03fd9c48ac924516da53f1f8d1073d923 100644
--- a/ros_wrapping/lidar_slam/package.xml
+++ b/ros_wrapping/lidar_slam/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>lidar_slam</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>ROS wrapping of Kitware LiDAR SLAM algorithm.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->