diff --git a/.github/.release-please-manifest.json b/.github/.release-please-manifest.json
index 2aca35a..d04f223 100644
--- a/.github/.release-please-manifest.json
+++ b/.github/.release-please-manifest.json
@@ -1,3 +1,3 @@
 {
-  ".": "0.5.0"
+  ".": "0.5.1"
 }
\ No newline at end of file
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8cd89a0..413c2e8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,13 @@
 # Changelog
 
+## [0.5.1](https://github.com/contagon/evalio/compare/v0.5.0...v0.5.1) (2026-05-08)
+
+
+### Features
+
+* Add small new constructor for LidarMeasurement ([#78](https://github.com/contagon/evalio/issues/78)) ([39eb11c](https://github.com/contagon/evalio/commit/39eb11c143514a0c3ce1d0dca7e2cf88c301ea0e))
+* Handle missing ground truth in dataset ([#79](https://github.com/contagon/evalio/issues/79)) ([7367264](https://github.com/contagon/evalio/commit/736726499f14b7487299e7fc877ed5adfb4ed6f8))
+
 ## [0.5.0](https://github.com/contagon/evalio/compare/v0.4.2...v0.5.0) (2026-04-10)
 
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 96e2cbc..1c7b749 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,7 @@ endif()
 
 # ------------------------- Basics ------------------------- #
 cmake_minimum_required(VERSION 3.24)
-project(EVALIO VERSION 0.5.0 LANGUAGES CXX) # x-release-please-version
+project(EVALIO VERSION 0.5.1 LANGUAGES CXX) # x-release-please-version
 
 # Enforce C++17 for std::variant amongst others
 set(CMAKE_CXX_STANDARD 20)
diff --git a/pyproject.toml b/pyproject.toml
index 7b0b7df..9ae4c6f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -2,7 +2,7 @@
 name = "evalio"
 authors = [{ name = "Easton Potokar", email = "contagon6@gmail.com" }]
 maintainers = [{ name = "Easton Potokar", email = "contagon6@gmail.com" }]
-version = "0.5.0"
+version = "0.5.1"
 description = "Evaluate Lidar-Inertial Odometry on public datasets"
 readme = "README.md"
 requires-python = ">=3.11"
diff --git a/python/evalio/__init__.py b/python/evalio/__init__.py
index 0b159b2..8e85ac9 100644
--- a/python/evalio/__init__.py
+++ b/python/evalio/__init__.py
@@ -55,7 +55,7 @@ def _register_custom_modules(module_name: str):
         _register_custom_modules(module_name)
 
 
-__version__ = "0.5.0"  # x-release-please-version
+__version__ = "0.5.1"  # x-release-please-version
 __all__ = [
     "_abi_tag",
     "datasets",
diff --git a/vcpkg.json b/vcpkg.json
index 75dbdea..627f7bb 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -14,7 +14,7 @@
     ]
   },
   "name": "evalio",
-  "version": "0.5.0",
+  "version": "0.5.1",
   "dependencies": [
     "ceres",
     "eigen3",