diff --git a/.gitmodules b/.gitmodules
index d4385b5..6fe6929 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,14 +1,6 @@
 [submodule "docs/doxygen_docs/doxygen-awesome-css"]
 	path = docs/doxygen_docs/doxygen-awesome-css
 	url = https://github.com/jothepro/doxygen-awesome-css.git
-[submodule "utils/fast_gicp"]
-	path = utils/fast_gicp
-	url = https://github.com/SMRT-AIST/fast_gicp.git
-	branch = master
-[submodule "utils/ndt_omp"]
-	path = utils/ndt_omp
-	url = https://github.com/koide3/ndt_omp.git
-	branch = master
 [submodule "utils/reasoning/situational_graphs_reasoning"]
 	path = utils/reasoning/situational_graphs_reasoning
 	url = https://github.com/snt-arg/situational_graphs_reasoning.git
diff --git a/utils/fast_gicp b/utils/fast_gicp
deleted file mode 160000
index 51aaef4..0000000
--- a/utils/fast_gicp
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 51aaef4c8dca7f03f53cdda76d842899eb52c3cf
diff --git a/utils/ndt_omp b/utils/ndt_omp
deleted file mode 160000
index 0852c95..0000000
--- a/utils/ndt_omp
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 0852c95360d1b0d29745e7eae7a57c0950de695b