diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9ac08e07c8..c25a3d4b5b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1711,13 +1711,16 @@ status("    Build with moment combine:"  ENABLE_MOMENTS_COMBINE_MATRICES THEN "y
 # ===================== Optional 3rd parties =====================
 status("")
 status("  OpenCV: ")
-status("    Version:"             USE_OPENCV         THEN "${OpenCV_VERSION}" ELSE "n/a")
+status("    Version:"                USE_OPENCV         THEN "${OpenCV_VERSION}" ELSE "n/a")
 if(USE_OPENCV)
   vp_list_replace_string(OpenCV_LIB_COMPONENTS OpenCV_LIB_COMPONENTS_FILTERED "^opencv_+" "")
   status("    Modules:"    "${OpenCV_LIB_COMPONENTS_FILTERED}")
   status("    OpenCV dir:" "${OpenCV_DIR}")
 endif()
 status("")
+status("  YARP: ")
+status("    Version:"                USE_YARP           THEN "${YARP_VERSION_SHORT}" ELSE "n/a")
+status("")
 status("  Mathematics: ")
 status("    Blas/Lapack:"            (USE_LAPACK OR WITH_LAPACK) THEN "yes" ELSE "no")
 status("    \\- Use MKL:"            USE_MKL            THEN "yes" ELSE "no")
diff --git a/ChangeLog.txt b/ChangeLog.txt
index df585eecb7..926f81569c 100644
--- a/ChangeLog.txt
+++ b/ChangeLog.txt
@@ -75,6 +75,7 @@ ViSP 3.x.x (Version in development)
     . [#1337] The pose of the automatic datageneration pipeline from blenderproc seems wrong
     . [#1341] SVD computation fails with Lapack when m < n
     . [#1370] encountered compilation errors while building the ViSP library
+    . [#1424] Unable to detect Yarp 3.9.0
 ----------------------------------------------
 ViSP 3.6.0 (released September 22, 2023)
   - Contributors:
diff --git a/modules/core/CMakeLists.txt b/modules/core/CMakeLists.txt
index c43a4b9f78..69db0c63a3 100644
--- a/modules/core/CMakeLists.txt
+++ b/modules/core/CMakeLists.txt
@@ -161,7 +161,24 @@ if(USE_OPENCV)
 endif(USE_OPENCV)
 
 if(USE_YARP)
-  list(APPEND opt_incs ${YARP_INCLUDE_DIRS})
+  foreach(lib_ ${YARP_LIBRARIES})
+    get_target_property(imported_libs_ ${lib_} INTERFACE_LINK_LIBRARIES)
+    if(imported_libs_)
+      list(APPEND YARP_LIBS ${lib_})
+      list(APPEND YARP_IMPORTED_LIBS ${imported_libs_})
+    else()
+      list(APPEND YARP_LIBS ${lib_})
+    endif()
+
+    get_target_property(imported_incs_ ${lib_} INTERFACE_INCLUDE_DIRECTORIES)
+    if(imported_incs_)
+      list(APPEND YARP_IMPORTED_INCLUDE_DIRS ${imported_incs_})
+    endif()
+  endforeach()
+  vp_list_unique(YARP_IMPORTED_LIBS)
+  vp_list_unique(YARP_IMPORTED_INCLUDE_DIRS)
+
+  list(APPEND opt_incs ${YARP_IMPORTED_INCLUDE_DIRS})
 
   # Work around to add Yarp libraries and also third party libraries requested by Yarp
   list(REVERSE YARP_LIBRARIES) # to start with YARP_init, that depends on YARP_dev, YARP_sig and YARP_OS
@@ -182,21 +199,8 @@ if(USE_YARP)
       else()
         list(APPEND opt_libs ${YARP_LIB}) # Append full absolute library path and name
       endif()
-      # Get 3rd party libraries requested by Yarp
-      get_target_property(YARP_LINK_LIBS_ ${lib} "IMPORTED_LINK_INTERFACE_LIBRARIES_${CONFIGURATION}")
-      list(APPEND YARP_LINK_LIBS ${YARP_LINK_LIBS_})
     endforeach()
   endforeach()
-
-  # Remove Yarp libraries since they were added previously with full absolute library path and name
-  if(YARP_LINK_LIBS)
-    foreach(lib ${YARP_LIBRARIES})
-      list(REMOVE_ITEM YARP_LINK_LIBS ${lib})
-    endforeach()
-  endif()
-  # Add 3rd party libraries requested by Yarp
-  list(APPEND opt_libs ${YARP_LINK_LIBS})
-  add_definitions(${YARP_DEFINES})
 endif(USE_YARP)
 
 # Math: eigen3, gsl, mkl, openblas, atlas, netlib, OpenCV
diff --git a/modules/core/src/image/vpImageConvert_yarp.cpp b/modules/core/src/image/vpImageConvert_yarp.cpp
index 030abf62e7..f8374b6d24 100644
--- a/modules/core/src/image/vpImageConvert_yarp.cpp
+++ b/modules/core/src/image/vpImageConvert_yarp.cpp
@@ -29,8 +29,7 @@
  *
  * Description:
  * Convert image types.
- *
-*****************************************************************************/
+ */
 
 /*!
   \file vpImageConvert_yarp.cpp
@@ -40,6 +39,8 @@
 
 #ifdef VISP_HAVE_YARP
 
+#include <visp3/core/vpImageConvert.h>
+
 BEGIN_VISP_NAMESPACE
 /*!
   Convert a vpImage\<unsigned char\> to a yarp::sig::ImageOf\<yarp::sig::PixelMono\>
@@ -65,7 +66,7 @@ BEGIN_VISP_NAMESPACE
   int main()
   {
   #if defined(VISP_HAVE_YARP)
-    vpImage<unsigned char> I; // A mocochrome image
+    vpImage<unsigned char> I; // A monochrome image
     // Read an image on a disk
     vpImageIo::read(I, "image.pgm");
 
@@ -83,7 +84,11 @@ void vpImageConvert::convert(const vpImage<unsigned char> &src, yarp::sig::Image
 {
   if (copyData) {
     dest->resize(src.getWidth(), src.getHeight());
-    memcpy(dest->getRawImage(), src.bitmap, src.getHeight() * src.getWidth());
+    for (unsigned int i = 0; i < src.getHeight(); ++i) {
+      for (unsigned int j = 0; j < src.getWidth(); ++j) {
+        dest->pixel(j, i) = src[i][j];
+      }
+    }
   }
   else {
     dest->setExternal(src.bitmap, static_cast<int>(src.getCols()), static_cast<int>(src.getRows()));
@@ -136,11 +141,11 @@ void vpImageConvert::convert(const yarp::sig::ImageOf<yarp::sig::PixelMono> *src
                              bool copyData)
 {
   dest.resize(src->height(), src->width());
-  if (copyData) {
-    memcpy(dest.bitmap, src->getRawImage(), src->height() * src->width() * sizeof(yarp::sig::PixelMono));
-  }
-  else {
-    dest.bitmap = src->getRawImage();
+  (void)(copyData);
+  for (unsigned int i = 0; i < dest.getHeight(); ++i) {
+    for (unsigned int j = 0; j < dest.getWidth(); ++j) {
+      dest[i][j] = src->pixel(j, i);
+    }
   }
 }
 
@@ -238,10 +243,14 @@ void vpImageConvert::convert(const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp
 void vpImageConvert::convert(const yarp::sig::ImageOf<yarp::sig::PixelRgba> *src, vpImage<vpRGBa> &dest, bool copyData)
 {
   dest.resize(src->height(), src->width());
-  if (copyData)
-    memcpy(dest.bitmap, src->getRawImage(), src->height() * src->width() * sizeof(yarp::sig::PixelRgba));
-  else {
-    dest.bitmap = static_cast<vpRGBa *>(src->getRawImage());
+  (void)(copyData);
+  for (unsigned int i = 0; i < dest.getHeight(); ++i) {
+    for (unsigned int j = 0; j < dest.getWidth(); ++j) {
+      dest[i][j].R = src->pixel(j, i).r;
+      dest[i][j].G = src->pixel(j, i).g;
+      dest[i][j].B = src->pixel(j, i).b;
+      dest[i][j].A = src->pixel(j, i).a;
+    }
   }
 }
 
diff --git a/modules/core/test/image-with-dataset/testConversion.cpp b/modules/core/test/image-with-dataset/testConversion.cpp
index 0805138ddd..da3f0cc0c6 100644
--- a/modules/core/test/image-with-dataset/testConversion.cpp
+++ b/modules/core/test/image-with-dataset/testConversion.cpp
@@ -54,6 +54,15 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #endif
 
+/*!
+  \example testConversion.cpp
+
+  \brief Manipulation of image conversions.
+*/
+#if defined(VISP_HAVE_YARP)
+#include <yarp/sig/ImageFile.h>
+#endif
+
 #ifdef ENABLE_VISP_NAMESPACE
 using namespace VISP_NAMESPACE_NAME;
 #endif
@@ -657,9 +666,170 @@ int main(int argc, const char **argv)
       std::cout << "   Resulting image saved in: " << filename << std::endl;
       vpImageIo::write(I_bgr2gray_flip_crop_no_continuous_sse, filename);
 #endif
-      std::cout << "Test succeed" << std::endl;
+      std::cout << "   Test succeed" << std::endl;
+    }
+
+#if defined(VISP_HAVE_YARP)
+    /////////////////////////
+    // Convert a ViSP to Yarp uchar image
+    ////////////////////////
+    std::cout << "** Test ViSP to Yarp image conversion by copy" << std::endl;
+    {
+      bool convert_by_copy = true;
+      filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
+      std::cout << "   Reading the gray image with ViSP: " << filename << std::endl;
+      vpImage<unsigned char> I;
+      // Read an image on a disk
+      vpImageIo::read(I, filename);
+
+      yarp::sig::ImageOf< yarp::sig::PixelMono > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
+      // Convert the vpImage\<unsigned char\> to a yarp::sig::ImageOf\<yarp::sig::PixelMono\>
+      vpImageConvert::convert(I, Iyarp, convert_by_copy);
+      // Write the image
+      filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy.pgm");
+      std::cout << "   Converted Yarp image saved in: " << filename << std::endl;
+      yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PGM);
+
+      std::cout << "   Reading the gray image with Yarp: " << filename << std::endl;
+      yarp::sig::ImageOf< yarp::sig::PixelMono > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
+      yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PGM);
+      vpImage<unsigned char> II;
+      vpImageConvert::convert(IIyarp, II, convert_by_copy);
+      filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy_visp.pgm");
+      std::cout << "   Converted image in ViSP saved in: " << filename << std::endl;
+      vpImageIo::write(II, filename);
+      if (I != II) {
+        std::cout << "   Yarp gray conversion test failed" << std::endl;
+        return EXIT_FAILURE;
+      }
+      std::cout << std::endl;
+    }
+    {
+      bool convert_by_copy = true;
+      filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
+      std::cout << "   Reading the color image with ViSP: " << filename << std::endl;
+      vpImage<vpRGBa> I;
+      // Read an image on a disk
+      vpImageIo::read(I, filename);
+
+      yarp::sig::ImageOf< yarp::sig::PixelRgba > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
+      // Convert the vpImage\<vpRGBa\> to a yarp::sig::ImageOf\<yarp::sig::PixelRgba\>
+      vpImageConvert::convert(I, Iyarp, convert_by_copy);
+      // Write the image
+      filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy.ppm");
+      std::cout << "   Converted image saved in: " << filename << std::endl;
+      yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PPM);
+
+      std::cout << "   Reading the color image with Yarp: " << filename << std::endl;
+      yarp::sig::ImageOf< yarp::sig::PixelRgba > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
+      yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PPM);
+      vpImage<vpRGBa> II;
+      vpImageConvert::convert(IIyarp, II, convert_by_copy);
+      filename = vpIoTools::createFilePath(opath, "Klimt_yarp_copy_visp.ppm");
+      std::cout << "   Converted image in ViSP saved in: " << filename << std::endl;
+      vpImageIo::write(II, filename);
+      if (I != II) {
+        std::cout << "   Yarp color conversion test failed" << std::endl;
+        return EXIT_FAILURE;
+      }
+      std::cout << std::endl;
     }
 
+    std::cout << "** Test ViSP to Yarp image conversion without copy" << std::endl;
+    {
+      bool convert_by_copy = false;
+      filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.pgm");
+      std::cout << "   Reading the gray image with ViSP: " << filename << std::endl;
+      vpImage<unsigned char> I;
+      // Read an image on a disk
+      vpImageIo::read(I, filename);
+
+      yarp::sig::ImageOf< yarp::sig::PixelMono > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
+      // Convert the vpImage\<unsigned char\> to a yarp::sig::ImageOf\<yarp::sig::PixelMono\>
+      vpImageConvert::convert(I, Iyarp, convert_by_copy);
+      // Write the image
+      filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy.pgm");
+      std::cout << "   Converted Yarp image saved in: " << filename << std::endl;
+      yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PGM);
+
+      std::cout << "   Reading the gray image with Yarp: " << filename << std::endl;
+      yarp::sig::ImageOf< yarp::sig::PixelMono > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelMono >();
+      yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PGM);
+      vpImage<unsigned char> II;
+      vpImageConvert::convert(IIyarp, II, convert_by_copy);
+      filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_visp.pgm");
+      std::cout << "   Converted image in ViSP saved in: " << filename << std::endl;
+      vpImageIo::write(II, filename);
+      if (I != II) {
+        std::cout << "   Yarp gray conversion test failed" << std::endl;
+        return EXIT_FAILURE;
+      }
+      else {
+        std::cout << "   Yarp gray conversion test succeed" << std::endl;
+      }
+      std::cout << std::endl;
+    }
+    {
+      bool convert_by_copy = false;
+      filename = vpIoTools::createFilePath(ipath, "Klimt/Klimt.ppm");
+      std::cout << "   Reading the color image with ViSP: " << filename << std::endl;
+      vpImage<vpRGBa> I;
+      // Read an image on a disk
+      vpImageIo::read(I, filename);
+
+      yarp::sig::ImageOf< yarp::sig::PixelRgba > *Iyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
+      // Convert the vpImage\<vpRGBa\> to a yarp::sig::ImageOf\<yarp::sig::PixelRgba\>
+      vpImageConvert::convert(I, Iyarp, convert_by_copy);
+      // Write the image
+      filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy.ppm");
+      std::cout << "   Converted image saved in: " << filename << std::endl;
+      yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PPM);
+
+      std::cout << "   Reading the color image with Yarp: " << filename << std::endl;
+      yarp::sig::ImageOf< yarp::sig::PixelRgba > *IIyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgba >();
+      yarp::sig::file::read(*IIyarp, filename, yarp::sig::file::FORMAT_PPM);
+      vpImage<vpRGBa> II;
+      vpImageConvert::convert(IIyarp, II, convert_by_copy);
+      filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_visp.ppm");
+      std::cout << "   Converted image in ViSP saved in: " << filename << std::endl;
+      vpImageIo::write(II, filename);
+      if (I != II) {
+        std::cout << "   Yarp RGBa color conversion test failed" << std::endl;
+        return EXIT_FAILURE;
+      }
+      else {
+        std::cout << "   Yarp RGBa color conversion test succeed" << std::endl;
+      }
+
+      yarp::sig::ImageOf< yarp::sig::PixelRgb > *IIIyarp = new yarp::sig::ImageOf<yarp::sig::PixelRgb >();
+      // Convert the vpImage\<vpRGBa\> to a yarp::sig::ImageOf\<yarp::sig::PixelRgb\>
+      vpImageConvert::convert(I, IIIyarp);
+      // Write the image
+      filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_rgb.ppm");
+      std::cout << "   Converted RGB image saved in: " << filename << std::endl;
+      yarp::sig::file::write(*Iyarp, filename, yarp::sig::file::FORMAT_PPM);
+
+      std::cout << "   Reading the RGB color image with Yarp: " << filename << std::endl;
+      yarp::sig::file::read(*IIIyarp, filename, yarp::sig::file::FORMAT_PPM);
+      vpImage<vpRGBa> III;
+      vpImageConvert::convert(IIIyarp, III);
+      filename = vpIoTools::createFilePath(opath, "Klimt_yarp_without_copy_visp_rgb.ppm");
+      std::cout << "   Converted RGB image in ViSP saved in: " << filename << std::endl;
+      vpImageIo::write(II, filename);
+      if (I != III) {
+        std::cout << "   Yarp RGB color conversion test failed" << std::endl;
+        return EXIT_FAILURE;
+      }
+      else {
+        std::cout << "   Yarp RGB color conversion test succeed" << std::endl;
+      }
+
+      std::cout << std::endl;
+    }
+#endif
+
+    std::cout << "** All the tests succeed" << std::endl;
+
     return EXIT_SUCCESS;
   }
   catch (const vpException &e) {