diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index 4dd18517e85..54b740d7643 100644
--- a/PCLConfig.cmake.in
+++ b/PCLConfig.cmake.in
@@ -704,6 +704,15 @@ foreach(component ${PCL_TO_FIND_COMPONENTS})
       add_library(${pcl_component} INTERFACE IMPORTED)
     endif()
 
+    # Namespaced alias targets, e.g. PCL::common. An ALIAS of a non-global
+    # imported target requires CMake >= 3.18, so emulate it for older versions.
+    if(CMAKE_VERSION VERSION_LESS 3.18.0)
+      add_library(PCL::${component} INTERFACE IMPORTED)
+      target_link_libraries(PCL::${component} INTERFACE ${pcl_component})
+    else()
+      add_library(PCL::${component} ALIAS ${pcl_component})
+    endif()
+
     foreach(def ${PCL_DEFINITIONS})
       string(REPLACE " " ";" def2 ${def})
       string(REGEX REPLACE "^-D" "" def3 "${def2}")
@@ -749,6 +758,9 @@ endif()
 
 pcl_remove_duplicate_libraries(PCL_COMPONENTS PCL_LIBRARIES)
 
+add_library(PCL::PCL INTERFACE IMPORTED)
+target_link_libraries(PCL::PCL INTERFACE ${PCL_COMPONENTS})
+
 # Add 3rd party libraries, as user code might include our .HPP implementations
 list(APPEND PCL_LIBRARIES ${PCL_BOOST_LIBRARIES} ${PCL_OPENNI_LIBRARIES} ${PCL_OPENNI2_LIBRARIES} ${PCL_ENSENSO_LIBRARIES} ${PCL_davidSDK_LIBRARIES} ${PCL_DSSDK_LIBRARIES} ${PCL_RSSDK_LIBRARIES} ${PCL_RSSDK2_LIBRARIES} ${PCL_VTK_LIBRARIES})
 if (TARGET FLANN::FLANN)