diff --git a/Makefile b/Makefile
index db1b7bb43b97543fd0d4529b9cc4b7742a06468b..9e82814eedbc7b0e9ec943d3d0e533a9e69f9806 100644
--- a/Makefile
+++ b/Makefile
@@ -7,7 +7,6 @@ SUBDIR+=	antlr2
 SUBDIR+=	backward-ros
 SUBDIR+=	can-utils
 SUBDIR+= 	certi
-SUBDIR+=	chilitags
 SUBDIR+=	dptu-genom3
 SUBDIR+=	dynamic-graph-v3
 SUBDIR+=	dynamic-graph-bridge-v3
@@ -36,7 +35,6 @@ SUBDIR+=	infuse-msgs-ros
 SUBDIR+=	infuse-novatel-gps-driver-ros
 SUBDIR+=	jrl-walkgen-v3
 SUBDIR+=	jsbsim
-SUBDIR+=	kukaFri-libs
 SUBDIR+=	libfreenect
 SUBDIR+=	libhatp
 SUBDIR+=	libmove3d
diff --git a/chilitags/DESCR b/chilitags/DESCR
deleted file mode 100644
index 565847680244c33d1a4c6ba325cadb31e5a465a2..0000000000000000000000000000000000000000
--- a/chilitags/DESCR
+++ /dev/null
@@ -1,11 +0,0 @@
-Chilitags is a C++ cross-platform software library for the detection and
-identification of 2D fiducial markers.  They are to be printed and placed on
-objects from the real world, to form the basis or Augmented Reality (AR)
-applications. Using a camera, the position of the tagged objects can be
-acquired by a computer and used to virtually display information on them.
-
-Chilitags was developed internally for projects of the CHILI lab
-(Computer-Human Interaction in Learning and Instruction, formerly CRAFT) at
-EPFL, such as Metroscope or TapaCarp. There are already many alternatives (e.g.
-ARToolKit, or reacTIVision, among many others), but we decided to release
-Chilitags anyway, as there seemed to be a demand for it.
diff --git a/chilitags/Makefile b/chilitags/Makefile
deleted file mode 100644
index ecef205fb0b9f66a96013e3778ecf46d6952e76e..0000000000000000000000000000000000000000
--- a/chilitags/Makefile
+++ /dev/null
@@ -1,29 +0,0 @@
-# robotpkg Makefile for:	image/chilitags
-# Created:			Séverin Lemaignan on Fri, 13 Dec 2013
-#
-
-VERSION=	1.3.1
-DISTNAME=	chilitags-${VERSION}
-DISTBASE=	chili-epfl/chilitags/archive/
-MASTER_SITES=	${MASTER_SITE_GITHUB:=${DISTBASE}${VERSION}${EXTRACT_SUFX}?f=}
-MASTER_REPOSITORY=\
-		${MASTER_REPOSITORY_GITHUB}/chili-epfl/chilitags
-
-CATEGORIES=	image
-MAINTAINER=	severin.lemaignan@epfl.ch
-LICENSE=	gnu-lgpl-v3
-HOMEPAGE=	https://github.com/chili-epfl/chilitags
-COMMENT=	Robust Fiducial Markers for Augmented Reality
-
-CMAKE_ARGS+=	-DWITH_CREATOR=ON
-CMAKE_ARGS+=	-DWITH_DETECTOR=ON
-CMAKE_ARGS+=	-DWITH_SAMPLES=ON
-
-DEPEND_ABI.opencv +=	opencv>=2.4
-DEPEND_ABI.g++ +=	g++>=4.7
-DEPEND_ABI.clang++ +=	clang++>=3.1
-
-include ../../image/opencv/depend.mk
-include ../../mk/language/c++.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/robotpkg.mk
diff --git a/chilitags/PLIST b/chilitags/PLIST
deleted file mode 100644
index 12441386239f8befc8469f920b9c475f89190433..0000000000000000000000000000000000000000
--- a/chilitags/PLIST
+++ /dev/null
@@ -1,16 +0,0 @@
-@comment Fri Dec 13 10:27:20 CET 2013
-bin/chilitags-creator
-bin/chilitags-detect
-bin/chilitags-detector
-bin/objects
-include/chilitags/Chilitag.hpp
-include/chilitags/Codec.hpp
-include/chilitags/DetectChilitags.hpp
-include/chilitags/Estimator.hpp
-include/chilitags/ObjectConfig.hpp
-include/chilitags/Objects.hpp
-include/chilitags/Quad.hpp
-include/chilitags/Registrar.hpp
-include/chilitags/TagDrawer.hpp
-lib/libchilitags.so
-lib/pkgconfig/chilitags.pc
diff --git a/chilitags/depend.mk b/chilitags/depend.mk
deleted file mode 100644
index 5260c99b32decfb8a0412e3a5070cd9ae025ec90..0000000000000000000000000000000000000000
--- a/chilitags/depend.mk
+++ /dev/null
@@ -1,30 +0,0 @@
-# robotpkg depend.mk for:	image/chilitags
-# Created:					Séverin Lemaignan on Fri, 13 Dec 2013
-#
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH}+
-CHILITAGS_DEPEND_MK:=	${CHILITAGS_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+=		chilitags
-endif
-
-ifeq (+,$(CHILITAGS_DEPEND_MK)) # ---------------------------------------------
-
-PREFER.chilitags?=		robotpkg
-
-SYSTEM_SEARCH.chilitags=\
-	include/chilitags/DetectChilitags.hpp	\
-	include/chilitags/Objects.hpp			\
-	bin/chilitags-detect					\
-	lib/libchilitags.so						\
-	'lib/pkgconfig/chilitags.pc:/Version/s/[^0-9.]//gp'
-
-DEPEND_USE+=		chilitags
-
-DEPEND_ABI.chilitags?=	chilitags>=1.3
-DEPEND_DIR.chilitags?=	../../wip/chilitags
-
-endif # CHILITAGS_DEPEND_MK ---------------------------------------------------
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/chilitags/distinfo b/chilitags/distinfo
deleted file mode 100644
index 0479cb3d46ed1bdd47db39c06cf9d7a89e60cf61..0000000000000000000000000000000000000000
--- a/chilitags/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (chilitags-1.3.1.tar.gz) = 50107bcbf2e31c2bbfec56973503843713afdf4d
-RMD160 (chilitags-1.3.1.tar.gz) = fbe1c4d00f28b9bf4dce026b8ee92026147dc5dd
-Size (chilitags-1.3.1.tar.gz) = 127442 bytes