diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2a6d2ac..fd05f8f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,13 +40,10 @@ else()
     message(STATUS "Address/Memory sanitizer: DISABLED")
 endif()
 
-set(USE_STACK_TRACE_LOGGER OFF CACHE BOOL "Enable automatic stack trace logger of google-glog")
-
+set(USE_STACK_TRACE_LOGGER OFF CACHE BOOL "Enable automatic stack trace logger of backward-cpp")
 if(USE_STACK_TRACE_LOGGER)
+    find_package(Backward REQUIRED)
     message(STATUS "Stack trace logger: ENABLED")
-    # Glog
-    find_package(Glog REQUIRED)
-    include_directories(${GLOG_INCLUDE_DIR})
 else()
     message(STATUS "Stack trace logger: DISABLED")
 endif()
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 4eeee85..646b832 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -34,10 +34,8 @@ foreach(EXECUTABLE_TARGET IN LISTS EXECUTABLE_TARGETS)
 
     # setup stack trace logger
     if(USE_STACK_TRACE_LOGGER)
-        target_compile_definitions(${EXECUTABLE_TARGET}
-                PRIVATE -DUSE_STACK_TRACE_LOGGER)
-        target_link_libraries(${EXECUTABLE_TARGET} PRIVATE
-                ${GLOG_LIBRARIES})
+        target_compile_definitions(${EXECUTABLE_TARGET} PRIVATE USE_STACK_TRACE_LOGGER)
+        target_link_libraries(${EXECUTABLE_TARGET} PRIVATE Backward::Backward)
     endif()
 
     # setup google-perftools
diff --git a/src/run_slam.cc b/src/run_slam.cc
index 39c495d..56101e2 100644
--- a/src/run_slam.cc
+++ b/src/run_slam.cc
@@ -28,7 +28,7 @@
 namespace fs = ghc::filesystem;
 
 #ifdef USE_STACK_TRACE_LOGGER
-#include <glog/logging.h>
+#include <backward.hpp>
 #endif
 
 #ifdef USE_GOOGLE_PERFTOOLS
@@ -168,8 +168,7 @@ void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
 
 int main(int argc, char* argv[]) {
 #ifdef USE_STACK_TRACE_LOGGER
-    google::InitGoogleLogging(argv[0]);
-    google::InstallFailureSignalHandler();
+    backward::SignalHandling sh;
 #endif
     rclcpp::init(argc, argv);
 
diff --git a/src/run_slam_offline.cc b/src/run_slam_offline.cc
index 7b9b7d5..2233e28 100644
--- a/src/run_slam_offline.cc
+++ b/src/run_slam_offline.cc
@@ -29,7 +29,7 @@
 namespace fs = ghc::filesystem;
 
 #ifdef USE_STACK_TRACE_LOGGER
-#include <glog/logging.h>
+#include <backward.hpp>
 #endif
 
 #ifdef USE_GOOGLE_PERFTOOLS
@@ -313,8 +313,7 @@ void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
 
 int main(int argc, char* argv[]) {
 #ifdef USE_STACK_TRACE_LOGGER
-    google::InitGoogleLogging(argv[0]);
-    google::InstallFailureSignalHandler();
+    backward::SignalHandling sh;
 #endif
     rclcpp::init(argc, argv);