diff --git a/doc/Code/PlanarSLAMExample.m b/doc/Code/PlanarSLAMExample.m
index 0231d52d0..8f63853e7 100644
--- a/doc/Code/PlanarSLAMExample.m
+++ b/doc/Code/PlanarSLAMExample.m
@@ -19,7 +19,7 @@ graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise));
 
 % Add bearing/range measurement factors
 degrees = pi/180;
-noiseModel = noiseModel.Diagonal.Sigmas([0.1; 0.2]);
-graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(8), noiseModel));
-graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, noiseModel));
-graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, noiseModel));
+brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]);
+graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(8), brNoise));
+graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise));
+graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise));
diff --git a/doc/Code/Pose3SLAMExample-graph.m b/doc/Code/Pose3SLAMExample-graph.m
index dde5ba85e..702928759 100644
--- a/doc/Code/Pose3SLAMExample-graph.m
+++ b/doc/Code/Pose3SLAMExample-graph.m
@@ -1,12 +1,12 @@
 %% Initialize graph, initial estimate, and odometry noise
 datafile = findExampleDataFile('sphere2500.txt');
-model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 0.1; 0.1; 0.1]);
+model = noiseModel.Diagonal.Sigmas([5*pi/180; 5*pi/180; 5*pi/180; 0.05; 0.05; 0.05]);
 [graph,initial] = load3D(datafile, model, true, 2500);
-plot3DTrajectory(initial,'g-',false); % Plot Initial Estimate
+plot3DTrajectory(initial, 'g-', false); % Plot Initial Estimate
 
 %% Read again, now with all constraints, and optimize
-graph = load3D(datafile, model);
-graph.add(NonlinearEqualityPose3(0, initial.at(0)));
+graph = load3D(datafile, model, false, 2500);
+graph.add(NonlinearEqualityPose3(0, initial.atPose3(0)));
 optimizer = LevenbergMarquardtOptimizer(graph, initial);
 result = optimizer.optimizeSafely();
 plot3DTrajectory(result, 'r-', false); axis equal;