diff --git a/CMakeLists.txt b/CMakeLists.txt
index a781b11b..70d242f4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.16)
 
-project(ROBOTICSLAB_VISION LANGUAGES CXX)
+# 'C' required by prograns/voxelOccupancyDetection in Ubuntu 24.04
+# see https://github.com/roboticslab-uc3m/vision/issues/106
+project(ROBOTICSLAB_VISION LANGUAGES C CXX)
 
 # Set CMake policies.
 if(POLICY CMP0127)
diff --git a/programs/CMakeLists.txt b/programs/CMakeLists.txt
index 3bb2fff4..07012f1f 100644
--- a/programs/CMakeLists.txt
+++ b/programs/CMakeLists.txt
@@ -1,6 +1,3 @@
-# Copyright: Universidad Carlos III de Madrid (C) 2015
-# Authors: Juan G. Victores
-
 #add_subdirectory(pointAtObjectServer) # see https://github.com/roboticslab-uc3m/vision/issues/106
 add_subdirectory(sceneReconstruction)
 add_subdirectory(rgbDetection)
diff --git a/programs/sceneReconstruction/CMakeLists.txt b/programs/sceneReconstruction/CMakeLists.txt
index a619cf37..c11e9522 100644
--- a/programs/sceneReconstruction/CMakeLists.txt
+++ b/programs/sceneReconstruction/CMakeLists.txt
@@ -16,7 +16,6 @@ cmake_dependent_option(ENABLE_sceneReconstruction "Enable/disable sceneReconstru
 
 if(ENABLE_sceneReconstruction)
 
-    # sceneReconstruction
     add_executable(sceneReconstruction main.cpp
                                        SceneReconstruction.hpp
                                        SceneReconstruction.cpp
diff --git a/programs/voxelOccupancyDetection/CMakeLists.txt b/programs/voxelOccupancyDetection/CMakeLists.txt
index 81686aaa..2a23d70e 100644
--- a/programs/voxelOccupancyDetection/CMakeLists.txt
+++ b/programs/voxelOccupancyDetection/CMakeLists.txt
@@ -1,18 +1,19 @@
-option(ENABLE_voxelOccupancyDetection "Enable/disable voxelOccupancyDetection program" ON)
+# disabled, see https://github.com/roboticslab-uc3m/vision/issues/106
+option(ENABLE_voxelOccupancyDetection "Enable/disable voxelOccupancyDetection program" OFF)
 
 if(ENABLE_voxelOccupancyDetection)
 
-add_executable(voxelOccupancyDetection main.cpp
-                                       VoxelOccupancyDetection.hpp
-                                       VoxelOccupancyDetection.cpp
-                                       SegmentorThread.hpp
-                                       SegmentorThread.cpp)
+    add_executable(voxelOccupancyDetection main.cpp
+                                           VoxelOccupancyDetection.hpp
+                                           VoxelOccupancyDetection.cpp
+                                           SegmentorThread.hpp
+                                           SegmentorThread.cpp)
 
-target_link_libraries(voxelOccupancyDetection YARP::YARP_os
-                                              YARP::YARP_init
-                                              YARP::YARP_dev
-                                              YARP::YARP_sig)
+    target_link_libraries(voxelOccupancyDetection YARP::YARP_os
+                                                  YARP::YARP_init
+                                                  YARP::YARP_dev
+                                                  YARP::YARP_sig)
 
-install(TARGETS voxelOccupancyDetection)
+    install(TARGETS voxelOccupancyDetection)
 
 endif()