diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index ade4b3dd7..47d8ab863 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -646,11 +646,10 @@ class ImuFactorPreintegratedMeasurements {
 
 virtual class ImuFactor : gtsam::NonlinearFactor {
   ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias,
-      const gtsam::ImuFactorPreintegratedMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis,
-      const gtsam::noiseModel::Base* model);
+      const gtsam::ImuFactorPreintegratedMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis);
   ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias,
       const gtsam::ImuFactorPreintegratedMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis,
-      const gtsam::noiseModel::Base* model, const gtsam::Pose3& body_P_sensor);
+      const gtsam::Pose3& body_P_sensor);
 
   // Standard Interface
   gtsam::ImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
diff --git a/gtsam_unstable/slam/ImuFactor.h b/gtsam_unstable/slam/ImuFactor.h
index 8ba169770..c3753e5e7 100644
--- a/gtsam_unstable/slam/ImuFactor.h
+++ b/gtsam_unstable/slam/ImuFactor.h
@@ -312,8 +312,8 @@ namespace gtsam {
     /** Constructor */
     ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
         const PreintegratedMeasurements& preintegratedMeasurements, const Vector3& gravity, const Vector3& omegaCoriolis,
-        const SharedNoiseModel& model, boost::optional<const Pose3&> body_P_sensor = boost::none) :
-      Base(model, pose_i, vel_i, pose_j, vel_j, bias),
+        boost::optional<const Pose3&> body_P_sensor = boost::none) :
+      Base(noiseModel::Gaussian::Covariance(preintegratedMeasurements.PreintMeasCov), pose_i, vel_i, pose_j, vel_j, bias),
       preintegratedMeasurements_(preintegratedMeasurements),
       gravity_(gravity),
       omegaCoriolis_(omegaCoriolis),
diff --git a/gtsam_unstable/slam/tests/testCombinedImuFactor.cpp b/gtsam_unstable/slam/tests/testCombinedImuFactor.cpp
index 370ccc3b9..3f6d6c4db 100644
--- a/gtsam_unstable/slam/tests/testCombinedImuFactor.cpp
+++ b/gtsam_unstable/slam/tests/testCombinedImuFactor.cpp
@@ -206,8 +206,7 @@ TEST( CombinedImuFactor, ErrorWithBiases )
 
 
     // Create factor
-    noiseModel::Gaussian::shared_ptr model = noiseModel::Gaussian::Covariance(pre_int_data.PreintMeasCov);
-    ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis, model);
+    ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis);
 
     noiseModel::Gaussian::shared_ptr Combinedmodel = noiseModel::Gaussian::Covariance(Combined_pre_int_data.PreintMeasCov);
     CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), Combined_pre_int_data, gravity, omegaCoriolis, Combinedmodel);
diff --git a/gtsam_unstable/slam/tests/testImuFactor.cpp b/gtsam_unstable/slam/tests/testImuFactor.cpp
index 9601e778e..82f9e3a88 100644
--- a/gtsam_unstable/slam/tests/testImuFactor.cpp
+++ b/gtsam_unstable/slam/tests/testImuFactor.cpp
@@ -182,8 +182,7 @@ TEST( ImuFactor, Error )
   pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
 
   // Create factor
-  noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(9, 0.15, 0.15, 0.15, 1.5, 1.5, 1.5, 0.5, 0.5, 0.5));
-  ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis, model);
+  ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis);
 
   Vector errorActual = factor.evaluateError(x1, v1, x2, v2, bias);
 
@@ -265,8 +264,7 @@ TEST( ImuFactor, ErrorWithBiases )
 //    pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
 
     // Create factor
-    noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(9, 0.15, 0.15, 0.15, 1.5, 1.5, 1.5, 0.5, 0.5, 0.5));
-    ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis, model);
+    ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis);
 
     SETDEBUG("ImuFactor evaluateError", false);
     Vector errorActual = factor.evaluateError(x1, v1, x2, v2, bias);
@@ -320,7 +318,7 @@ TEST( ImuFactor, PartialDerivativeExpmap )
 
   // Compute numerical derivatives
   Matrix expectedDelRdelBiasOmega = numericalDerivative11<Rot3, LieVector>(boost::bind(
-      &evaluateRotation, measuredOmega, _1, deltaT), biasOmega);
+      &evaluateRotation, measuredOmega, _1, deltaT), LieVector(biasOmega));
 
   const Matrix3 Jr = ImuFactor::rightJacobianExpMapSO3((measuredOmega - biasOmega) * deltaT);
 
@@ -343,7 +341,7 @@ TEST( ImuFactor, PartialDerivativeLogmap )
 
   // Compute numerical derivatives
   Matrix expectedDelFdeltheta = numericalDerivative11<LieVector>(boost::bind(
-      &evaluateLogRotation, thetahat, _1), deltatheta);
+      &evaluateLogRotation, thetahat, _1), LieVector(deltatheta));
 
   const Vector3 x = thetahat; // parametrization of so(3)
   const Matrix3 X = skewSymmetric(x); // element of Lie algebra so(3): X = x^
@@ -529,8 +527,7 @@ TEST( ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement )
   pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
 
     // Create factor
-    noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector_(9, 0.15, 0.15, 0.15, 1.5, 1.5, 1.5, 0.5, 0.5, 0.5));
-    ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis, model);
+    ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis);
 
     // Expected Jacobians
     Matrix H1e = numericalDerivative11<Pose3>(