diff --git a/pkgs/development/libraries/g2o/default.nix b/pkgs/development/libraries/g2o/default.nix
new file mode 100644
index 000000000000..1486b5bfc55a
--- /dev/null
+++ b/pkgs/development/libraries/g2o/default.nix
@@ -0,0 +1,24 @@
+{ lib, stdenv, fetchFromGitHub, cmake, eigen, suitesparse }:
+
+stdenv.mkDerivation rec {
+  pname = "g2o";
+  version = "unstable-2019-04-07";
+
+  src = fetchFromGitHub {
+    owner = "RainerKuemmerle";
+    repo = pname;
+    rev = "9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a";
+    sha256 = "1rgrz6zxiinrik3lgwgvsmlww1m2fnpjmvcx1mf62xi1s2ma5w2i";
+  };
+
+  nativeBuildInputs = [ cmake ];
+  buildInputs = [ eigen suitesparse ];
+
+  meta = {
+    description = "A General Framework for Graph Optimization";
+    homepage = "https://github.com/RainerKuemmerle/g2o";
+    license = with lib.licenses; [ bsd3 lgpl3 gpl3 ];
+    maintainers = with lib.maintainers; [ lopsided98 ];
+    platforms = lib.platforms.all;
+  };
+}
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index 2bca04615183..037d3e87ab3a 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -1525,6 +1525,8 @@ in
 
   fzy = callPackage ../tools/misc/fzy { };
 
+  g2o = callPackage ../development/libraries/g2o { };
+
   gbsplay = callPackage ../applications/audio/gbsplay { };
 
   gdrivefs = python27Packages.gdrivefs;