diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp
index 3d51ef3ac..0c22f1365 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.cpp
+++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp
@@ -18,9 +18,12 @@
  */
 
 #include <cmath>
+#include <limits>
 #include <boost/foreach.hpp>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/inference.h>
+#include <gtsam/geometry/Pose2.h>
+#include <gtsam/geometry/Pose3.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 
 using namespace std;
@@ -43,24 +46,110 @@ void NonlinearFactorGraph::print(const std::string& str, const KeyFormatter& key
 }
 
 /* ************************************************************************* */
-void NonlinearFactorGraph::saveGraph(std::ostream &stm, const KeyFormatter& keyFormatter) const {
+void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
+    const GraphvizFormatting& graphvizFormatting,
+    const KeyFormatter& keyFormatter) const
+{
   stm << "graph {\n";
+  stm << "  size=\"" << graphvizFormatting.figureWidthInches << "," <<
+    graphvizFormatting.figureHeightInches << "\";\n\n";
+
+  FastSet<Key> keys = this->keys();
+
+  // Local utility function to extract x and y coordinates
+  struct { boost::optional<Point2> operator()(
+    const Value& value, const GraphvizFormatting& graphvizFormatting)
+  {
+    if(const Pose2* p = dynamic_cast<const Pose2*>(&value)) {
+      double x, y;
+      switch (graphvizFormatting.paperHorizontalAxis) {
+      case GraphvizFormatting::X: x = p->x(); break;
+      case GraphvizFormatting::Y: x = p->y(); break;
+      case GraphvizFormatting::Z: x = 0.0; break;
+      case GraphvizFormatting::NEGX: x = -p->x(); break;
+      case GraphvizFormatting::NEGY: x = -p->y(); break;
+      case GraphvizFormatting::NEGZ: x = 0.0; break;
+      }
+      switch (graphvizFormatting.paperVerticalAxis) {
+      case GraphvizFormatting::X: y = p->x(); break;
+      case GraphvizFormatting::Y: y = p->y(); break;
+      case GraphvizFormatting::Z: y = 0.0; break;
+      case GraphvizFormatting::NEGX: y = -p->x(); break;
+      case GraphvizFormatting::NEGY: y = -p->y(); break;
+      case GraphvizFormatting::NEGZ: y = 0.0; break;
+      }
+      return Point2(x,y);
+    } else if(const Pose3* p = dynamic_cast<const Pose3*>(&value)) {
+      double x, y;
+      switch (graphvizFormatting.paperHorizontalAxis) {
+      case GraphvizFormatting::X: x = p->x(); break;
+      case GraphvizFormatting::Y: x = p->y(); break;
+      case GraphvizFormatting::Z: x = p->z(); break;
+      case GraphvizFormatting::NEGX: x = -p->x(); break;
+      case GraphvizFormatting::NEGY: x = -p->y(); break;
+      case GraphvizFormatting::NEGZ: x = -p->z(); break;
+      }
+      switch (graphvizFormatting.paperVerticalAxis) {
+      case GraphvizFormatting::X: y = p->x(); break;
+      case GraphvizFormatting::Y: y = p->y(); break;
+      case GraphvizFormatting::Z: y = p->z(); break;
+      case GraphvizFormatting::NEGX: y = -p->x(); break;
+      case GraphvizFormatting::NEGY: y = -p->y(); break;
+      case GraphvizFormatting::NEGZ: y = -p->z(); break;
+      }
+     return Point2(x,y);
+    } else {
+      return boost::none;
+    }
+  }} getXY;
 
   // Create nodes for each variable in the graph
-  BOOST_FOREACH(Key key, this->keys()) {
+  BOOST_FOREACH(Key key, keys) {
     // Label the node with the label from the KeyFormatter
-    stm << "  var" << key << "[label=\"" << keyFormatter(key) << "\"];\n"; }
+    stm << "  var" << key << "[label=\"" << keyFormatter(key) << "\"";
+    if(values.exists(key)) {
+      boost::optional<Point2> xy = getXY(values.at(key), graphvizFormatting);
+      if(xy)
+        stm << ", pos=\"" << xy->x() << "," << xy->y() << "\"";
+    }
+    stm << "];\n";
+  }
   stm << "\n";
 
-  // Create factors and variable connections
-  for(size_t i = 0; i < this->size(); ++i) {
-    // Make each factor a dot
-    stm << "  factor" << i << "[label=\"\", shape=point];\n";
+  if(graphvizFormatting.mergeSimilarFactors) {
+    // Remove duplicate factors
+    FastSet<vector<Key> > structure;
+    BOOST_FOREACH(const sharedFactor& factor, *this) {
+      if(factor) {
+        vector<Key> factorKeys = factor->keys();
+        std::sort(factorKeys.begin(), factorKeys.end());
+        structure.insert(factorKeys);
+      }
+    }
 
-    // Make factor-variable connections
-    if(this->at(i)) {
-      BOOST_FOREACH(Key key, *this->at(i)) {
-        stm << "  var" << key << "--" << "factor" << i << ";\n"; } }
+    // Create factors and variable connections
+    size_t i = 0;
+    BOOST_FOREACH(const vector<Key>& factorKeys, structure) {
+      // Make each factor a dot
+      stm << "  factor" << i << "[label=\"\", shape=point];\n";
+
+      // Make factor-variable connections
+      BOOST_FOREACH(Key key, factorKeys) {
+        stm << "  var" << key << "--" << "factor" << i << ";\n"; }
+
+      ++ i;
+    }
+  } else {
+    // Create factors and variable connections
+    for(size_t i = 0; i < this->size(); ++i) {
+      // Make each factor a dot
+      stm << "  factor" << i << "[label=\"\", shape=point];\n";
+
+      // Make factor-variable connections
+      if(this->at(i)) {
+        BOOST_FOREACH(Key key, *this->at(i)) {
+          stm << "  var" << key << "--" << "factor" << i << ";\n"; } }
+    }
   }
 
   stm << "}\n";
diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h
index 945189a41..216e9e1c4 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph.h
@@ -27,6 +27,26 @@
 
 namespace gtsam {
 
+  /**
+   * Formatting options when saving in GraphViz format using
+   * NonlinearFactorGraph::saveGraph.
+   */
+  struct GraphvizFormatting {
+    enum Axis { X, Y, Z, NEGX, NEGY, NEGZ }; ///< World axes to be assigned to paper axes
+    Axis paperHorizontalAxis; ///< The world axis assigned to the horizontal paper axis
+    Axis paperVerticalAxis; ///< The world axis assigned to the vertical paper axis
+    double figureWidthInches; ///< The figure width on paper in inches
+    double figureHeightInches; ///< The figure height on paper in inches
+    bool mergeSimilarFactors; ///< Merge multiple factors that have the same connectivity
+    /// Default constructor sets up robot coordinates.  Paper horizontal is robot Y,
+    /// paper vertical is robot X.  Default figure size of 5x5 in.
+    GraphvizFormatting() :
+      paperHorizontalAxis(Y), paperVerticalAxis(X),
+      figureWidthInches(5), figureHeightInches(5),
+      mergeSimilarFactors(false) {}
+  };
+
+
   /**
    * A non-linear factor graph is a graph of non-Gaussian, i.e. non-linear factors,
    * which derive from NonlinearFactor. The values structures are typically (in SAM) more general
@@ -47,7 +67,9 @@ namespace gtsam {
     void print(const std::string& str = "NonlinearFactorGraph: ", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
 
     /** Write the graph in GraphViz format for visualization */
-    void saveGraph(std::ostream& stm, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+    void saveGraph(std::ostream& stm, const Values& values = Values(),
+      const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
 
     /** return keys as an ordered set - ordering is by key value */
     FastSet<Key> keys() const;