diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
new file mode 100644
index 0000000..f2d3b92
--- /dev/null
+++ b/.github/workflows/wheels.yml
@@ -0,0 +1,77 @@
+name: Build
+
+on:
+  push:
+    branches: [ master ]
+    paths-ignore: '**.md'
+
+jobs:
+  build_wheels:
+    name: Build wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-14]
+        pyver: [cp38, cp39, cp310, cp311, cp312]
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        if: runner.os == 'Linux'
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: arm64
+
+      - if: runner.os == 'Windows'
+        uses: microsoft/setup-msbuild@v2
+
+      - uses: actions/setup-python@v5
+
+      - name: Install pytest and cibuildwheel
+        run: python -m pip install cibuildwheel==2.17.0
+
+      - name: Build wheels
+        run: python -m cibuildwheel --output-dir wheelhouse
+        env:
+          CIBW_BUILD: ${{ matrix.pyver }}-*
+          CIBW_ARCHS_LINUX: auto aarch64
+          # CIBW_ARCHS_LINUX: x86_64
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }}
+          path: ./wheelhouse/*.whl
+
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build sdist
+        run: pipx run build --sdist
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: cibw-sdist
+          path: dist/*.tar.gz
+
+  upload_pypi:
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write
+    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags/v')
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          # unpacks all CIBW artifacts into dist/
+          pattern: cibw-*
+          path: dist
+          merge-multiple: true
+
+      - uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          repository-url: https://pypi.org/legacy/
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f1ece42..52bb2f9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-project(small_gicp VERSION 0.0.1 LANGUAGES C CXX)
+project(small_gicp VERSION 0.0.6 LANGUAGES C CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -51,7 +51,7 @@ if(NOT Eigen3_FOUND)
   )
   add_library(Eigen3::Eigen INTERFACE IMPORTED GLOBAL)
   set_target_properties(Eigen3::Eigen PROPERTIES
-    INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_BINARY_DIR}/Eigen3-src"
+    INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
   )
 endif()
 
@@ -141,7 +141,7 @@ endif()
 
 # Python bindings
 if(BUILD_PYTHON_BINDINGS)
-  find_package(Python COMPONENTS Interpreter Development REQUIRED)
+  find_package(Python COMPONENTS Interpreter Development)
   find_package(pybind11 CONFIG REQUIRED)
 
   pybind11_add_module(small_gicp_python
diff --git a/pyproject.toml b/pyproject.toml
index 13d9027..9200708 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "small_gicp"
-version = "0.0.1"
+version = "0.0.6"
 authors = [{name = "Kenji Koide", email = "k.koide@aist.go.jp"}]
 description = "Efficient and parallelized algorithms for fine point cloud registration"
 readme = "README.md"
@@ -14,9 +14,6 @@ requires-python = ">=3.7"
 [project.urls]
 Homepage = "https://github.com/koide3/small_gicp"
 
-[project.optional-dependencies]
-test = ["pytest>=6.0"]
-
 [tool.setuptools]
 zip_safe = false
 
@@ -31,8 +28,22 @@ BUILD_PYTHON_BINDINGS = true
 BUILD_HELPER = false
 BUILD_SHARED_LIBS = false
 
+[tool.cibuildwheel.linux]
+before-all = "yum install -y libomp-devel"
+
+[tool.cibuildwheel.macos]
+before-all = "brew install eigen libomp"
+environment = { OpenMP_ROOT="/opt/homebrew/opt/libomp" }
+
+[tool.cibuildwheel.windows]
+before-all = "choco install eigen -y"
+test-command = "cd /d {project} && pytest {project}/src --color=yes -v"
+
 [tool.cibuildwheel]
+manylinux-x86_64-image = "manylinux_2_28"
+manylinux-aarch64-image = "manylinux_2_28"
 build = "*"
-skip = "pp*" # Don't build for PyPy
-test-command = "pytest {project}/src --color=yes -v"
+skip = "pp* *-win32 *_i686 *musllinux*" # Don't build for PyPy, Win32, i686
+test-requires = "pytest numpy scipy"
+test-command = "cd {project} && pytest {project}/src --color=yes -v"
 build-verbosity = 1