diff --git a/gtsam/linear/ConjugateGradientSolver.cpp b/gtsam/linear/ConjugateGradientSolver.cpp
index a1b9e2d83..006e7d67d 100644
--- a/gtsam/linear/ConjugateGradientSolver.cpp
+++ b/gtsam/linear/ConjugateGradientSolver.cpp
@@ -18,7 +18,6 @@
  */
 
 #include <gtsam/linear/ConjugateGradientSolver.h>
-#include <boost/algorithm/string.hpp>
 #include <iostream>
 
 using namespace std;
@@ -49,7 +48,9 @@ std::string ConjugateGradientParameters::blasTranslator(const BLASKernel value)
 /*****************************************************************************/
 ConjugateGradientParameters::BLASKernel ConjugateGradientParameters::blasTranslator(
     const std::string &src) {
-  std::string s = src;  boost::algorithm::to_upper(s);
+  std::string s = src;
+  // Convert to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "GTSAM")  return ConjugateGradientParameters::GTSAM;
 
   /* default is SBM */
diff --git a/gtsam/linear/IterativeSolver.cpp b/gtsam/linear/IterativeSolver.cpp
index 5adb1916a..c5a25c4b8 100644
--- a/gtsam/linear/IterativeSolver.cpp
+++ b/gtsam/linear/IterativeSolver.cpp
@@ -19,7 +19,6 @@
 #include <gtsam/linear/IterativeSolver.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/VectorValues.h>
-#include <boost/algorithm/string.hpp>
 #include <iostream>
 
 using namespace std;
@@ -57,7 +56,8 @@ ostream& operator<<(ostream &os, const IterativeOptimizationParameters &p) {
 IterativeOptimizationParameters::Verbosity IterativeOptimizationParameters::verbosityTranslator(
     const string &src) {
   string s = src;
-  boost::algorithm::to_upper(s);
+  // Convert to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "SILENT")
     return IterativeOptimizationParameters::SILENT;
   else if (s == "COMPLEXITY")
diff --git a/gtsam/linear/Preconditioner.cpp b/gtsam/linear/Preconditioner.cpp
index 84837760c..2b84e3736 100644
--- a/gtsam/linear/Preconditioner.cpp
+++ b/gtsam/linear/Preconditioner.cpp
@@ -13,7 +13,6 @@
 #include <gtsam/linear/SubgraphPreconditioner.h>
 #include <gtsam/linear/NoiseModel.h>
 #include <memory>
-#include <boost/algorithm/string.hpp>
 #include <iostream>
 #include <vector>
 
@@ -41,7 +40,9 @@ void PreconditionerParameters::print(ostream &os) const {
 
 /***************************************************************************************/
 PreconditionerParameters::Kernel PreconditionerParameters::kernelTranslator(const std::string &src) {
-  std::string s = src;  boost::algorithm::to_upper(s);
+  std::string s = src;
+  // convert string s to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "GTSAM") return PreconditionerParameters::GTSAM;
   else if (s == "CHOLMOD") return PreconditionerParameters::CHOLMOD;
   /* default is cholmod */
@@ -50,7 +51,9 @@ PreconditionerParameters::Kernel PreconditionerParameters::kernelTranslator(cons
 
 /***************************************************************************************/
 PreconditionerParameters::Verbosity PreconditionerParameters::verbosityTranslator(const std::string &src)  {
-  std::string s = src;  boost::algorithm::to_upper(s);
+  std::string s = src;
+  // convert string to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "SILENT") return PreconditionerParameters::SILENT;
   else if (s == "COMPLEXITY") return PreconditionerParameters::COMPLEXITY;
   else if (s == "ERROR") return PreconditionerParameters::ERROR;
diff --git a/gtsam/linear/SubgraphBuilder.cpp b/gtsam/linear/SubgraphBuilder.cpp
index 97d681547..4af84d6a8 100644
--- a/gtsam/linear/SubgraphBuilder.cpp
+++ b/gtsam/linear/SubgraphBuilder.cpp
@@ -24,7 +24,6 @@
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/SubgraphBuilder.h>
 
-#include <boost/algorithm/string.hpp>
 #include <boost/archive/text_iarchive.hpp>
 #include <boost/archive/text_oarchive.hpp>
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
@@ -154,7 +153,8 @@ ostream &operator<<(ostream &os, const SubgraphBuilderParameters &p) {
 SubgraphBuilderParameters::Skeleton
 SubgraphBuilderParameters::skeletonTranslator(const std::string &src) {
   std::string s = src;
-  boost::algorithm::to_upper(s);
+  // convert to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "NATURALCHAIN")
     return NATURALCHAIN;
   else if (s == "BFS")
@@ -182,7 +182,8 @@ std::string SubgraphBuilderParameters::skeletonTranslator(Skeleton s) {
 SubgraphBuilderParameters::SkeletonWeight
 SubgraphBuilderParameters::skeletonWeightTranslator(const std::string &src) {
   std::string s = src;
-  boost::algorithm::to_upper(s);
+  // convert to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "EQUAL")
     return EQUAL;
   else if (s == "RHS")
@@ -217,7 +218,8 @@ SubgraphBuilderParameters::AugmentationWeight
 SubgraphBuilderParameters::augmentationWeightTranslator(
     const std::string &src) {
   std::string s = src;
-  boost::algorithm::to_upper(s);
+  // convert to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "SKELETON") return SKELETON;
   //  else if (s == "STRETCH")  return STRETCH;
   //  else if (s == "GENERALIZED_STRETCH")  return GENERALIZED_STRETCH;
diff --git a/gtsam/nonlinear/DoglegOptimizer.cpp b/gtsam/nonlinear/DoglegOptimizer.cpp
index 654c1ad33..8899685de 100644
--- a/gtsam/nonlinear/DoglegOptimizer.cpp
+++ b/gtsam/nonlinear/DoglegOptimizer.cpp
@@ -24,13 +24,13 @@
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/VectorValues.h>
 
-#include <boost/algorithm/string.hpp>
-
 namespace gtsam {
 
 /* ************************************************************************* */
 DoglegParams::VerbosityDL DoglegParams::verbosityDLTranslator(const std::string &verbosityDL) const {
-  std::string s = verbosityDL;  boost::algorithm::to_upper(s);
+  std::string s = verbosityDL;
+  // convert to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "SILENT") return DoglegParams::SILENT;
   if (s == "VERBOSE") return DoglegParams::VERBOSE;
 
diff --git a/gtsam/nonlinear/ISAM2Params.cpp b/gtsam/nonlinear/ISAM2Params.cpp
index c768ce427..ec9d5b773 100644
--- a/gtsam/nonlinear/ISAM2Params.cpp
+++ b/gtsam/nonlinear/ISAM2Params.cpp
@@ -16,7 +16,6 @@
  */
 
 #include <gtsam/nonlinear/ISAM2Params.h>
-#include <boost/algorithm/string.hpp>
 
 using namespace std;
 
@@ -46,7 +45,8 @@ DoglegOptimizerImpl::TrustRegionAdaptationMode
 ISAM2DoglegParams::adaptationModeTranslator(
     const string& adaptationMode) const {
   string s = adaptationMode;
-  boost::algorithm::to_upper(s);
+  // convert to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "SEARCH_EACH_ITERATION")
     return DoglegOptimizerImpl::SEARCH_EACH_ITERATION;
   if (s == "ONE_STEP_PER_ITERATION")
@@ -60,7 +60,8 @@ ISAM2DoglegParams::adaptationModeTranslator(
 ISAM2Params::Factorization ISAM2Params::factorizationTranslator(
     const string& str) {
   string s = str;
-  boost::algorithm::to_upper(s);
+  // convert to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "QR") return ISAM2Params::QR;
   if (s == "CHOLESKY") return ISAM2Params::CHOLESKY;
 
diff --git a/gtsam/nonlinear/LevenbergMarquardtParams.cpp b/gtsam/nonlinear/LevenbergMarquardtParams.cpp
index 32de3ffbe..39b773173 100644
--- a/gtsam/nonlinear/LevenbergMarquardtParams.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtParams.cpp
@@ -19,7 +19,6 @@
  */
 
 #include <gtsam/nonlinear/LevenbergMarquardtParams.h>
-#include <boost/algorithm/string/case_conv.hpp>
 #include <iostream>
 #include <string>
 
@@ -31,7 +30,8 @@ namespace gtsam {
 LevenbergMarquardtParams::VerbosityLM LevenbergMarquardtParams::verbosityLMTranslator(
     const std::string &src) {
   std::string s = src;
-  boost::algorithm::to_upper(s);
+  // convert to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "SILENT")
     return LevenbergMarquardtParams::SILENT;
   if (s == "SUMMARY")
diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.cpp b/gtsam/nonlinear/NonlinearOptimizerParams.cpp
index 6fc532bf6..671dbe34d 100644
--- a/gtsam/nonlinear/NonlinearOptimizerParams.cpp
+++ b/gtsam/nonlinear/NonlinearOptimizerParams.cpp
@@ -9,7 +9,6 @@
  */
 
 #include <gtsam/nonlinear/NonlinearOptimizerParams.h>
-#include <boost/algorithm/string.hpp>
 
 namespace gtsam {
 
@@ -17,7 +16,8 @@ namespace gtsam {
 NonlinearOptimizerParams::Verbosity NonlinearOptimizerParams::verbosityTranslator(
     const std::string &src) {
   std::string s = src;
-  boost::algorithm::to_upper(s);
+  // Convert to upper case
+  std::transform(s.begin(), s.end(), s.begin(), ::toupper);
   if (s == "SILENT")
     return NonlinearOptimizerParams::SILENT;
   if (s == "ERROR")