diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 8554b7f46..50e487e75 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -379,13 +379,13 @@ Unit3 Pose3::bearing(const Point3& point, OptionalJacobian<2, 6> H1,
 }
 
 /* ************************************************************************* */
-Unit3 Pose3::bearing(const Pose3& point, OptionalJacobian<2, 6> H1,
+Unit3 Pose3::bearing(const Pose3& pose, OptionalJacobian<2, 6> H1,
                      OptionalJacobian<2, 6> H2) const {
   if (H2) {
     H2->setZero();
-    return bearing(point.translation(), H1, H2.cols<3>(3));
+    return bearing(pose.translation(), H1, H2.cols<3>(3));
   }
-  return bearing(point.translation(), H1, boost::none);
+  return bearing(pose.translation(), H1, boost::none);
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 111f226bb..6df62485b 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -288,7 +288,7 @@ public:
    * information is ignored.
    * @return bearing (Unit3)
    */
-  Unit3 bearing(const Pose3& point, OptionalJacobian<2, 6> H1 = boost::none,
+  Unit3 bearing(const Pose3& pose, OptionalJacobian<2, 6> H1 = boost::none,
       OptionalJacobian<2, 6> H2 = boost::none) const;
 
   /// @}