diff --git a/internal/ceres/eigen_dense_cholesky.cc b/internal/ceres/eigen_dense_cholesky.cc
index 993f92c..7b43ad2 100644
--- a/internal/ceres/eigen_dense_cholesky.cc
+++ b/internal/ceres/eigen_dense_cholesky.cc
@@ -50,14 +50,12 @@
   Eigen::LLT<Matrix, Upper> cholesky = lhs.selfadjointView<Upper>().llt();
 #endif
 
-  if (cholesky.info() == Eigen::Success) {
-    VectorRef solution(solution_values, size);
-    if (solution_values == rhs_values) {
-      cholesky.solveInPlace(solution);
-    } else {
-      ConstVectorRef rhs(rhs_values, size);
-      solution = cholesky.solve(rhs);
-    }
+  VectorRef solution(solution_values, size);
+  if (solution_values == rhs_values) {
+    cholesky.solveInPlace(solution);
+  } else {
+    ConstVectorRef rhs(rhs_values, size);
+    solution = cholesky.solve(rhs);
   }
 
   return cholesky.info();
diff --git a/internal/ceres/schur_eliminator_impl.h b/internal/ceres/schur_eliminator_impl.h
index e736e4e..d1a0075 100644
--- a/internal/ceres/schur_eliminator_impl.h
+++ b/internal/ceres/schur_eliminator_impl.h
@@ -360,7 +360,18 @@
               ete.data(), 0, 0, e_block_size, e_block_size);
     }
 
-    SolveUpperTriangularUsingCholesky(e_block_size, ete.data(), y_ptr, y_ptr);
+    // On ARM we have experienced significant numerical problems with
+    // Eigen's LLT implementation. Defining
+    // CERES_USE_LDLT_FOR_EIGEN_CHOLESKY switches to using the slightly
+    // more expensive but much more numerically well behaved LDLT
+    // factorization algorithm.
+
+#ifdef CERES_USE_LDLT_FOR_EIGEN_CHOLESKY
+    ete.ldlt().solveInPlace(y_block);
+#else
+    ete.llt().solveInPlace(y_block);
+#endif
+
   }
 }