diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index 4b4d874e7..cffa7ccde 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -424,7 +424,11 @@ gtsam::GaussianFactorGraph* summarizeGraphSequential(
 
 pair<gtsam::GaussianFactorGraph,gtsam::Ordering>
 partialCholeskySummarization(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values,
-    const gtsam::KeySet& overlap_keys);
+    const gtsam::KeySet& saved_keys);
+
+pair<gtsam::GaussianFactorGraph,gtsam::Ordering>
+sequentialSummarization(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values,
+    const gtsam::KeySet& saved_keys);
 
 #include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
 class FixedLagSmootherKeyTimestampMapValue {
diff --git a/gtsam_unstable/nonlinear/summarization.cpp b/gtsam_unstable/nonlinear/summarization.cpp
index 1c14ea974..680719c82 100644
--- a/gtsam_unstable/nonlinear/summarization.cpp
+++ b/gtsam_unstable/nonlinear/summarization.cpp
@@ -31,19 +31,43 @@ GaussianFactorGraph::shared_ptr summarizeGraphSequential(
 
 /* ************************************************************************* */
 std::pair<GaussianFactorGraph,Ordering>
-partialCholeskySummarization(const NonlinearFactorGraph& graph, const Values& values,
-    const KeySet& overlap_keys) {
+sequentialSummarization(const NonlinearFactorGraph& graph, const Values& values,
+    const KeySet& saved_keys) {
   // compute a new ordering with non-saved keys first
   Ordering ordering;
   KeySet eliminatedKeys;
   BOOST_FOREACH(const Key& key, values.keys()) {
-    if (!overlap_keys.count(key)) {
+    if (!saved_keys.count(key)) {
       eliminatedKeys.insert(key);
       ordering += key;
     }
   }
 
-  BOOST_FOREACH(const Key& key, overlap_keys)
+  BOOST_FOREACH(const Key& key, saved_keys)
+    ordering += key;
+
+  // Linearize the system
+  GaussianFactorGraph full_graph = *graph.linearize(values, ordering);
+  GaussianFactorGraph summarized_system;
+  summarized_system.push_back(EliminateQR(full_graph, eliminatedKeys.size()).second);
+  return make_pair(summarized_system, ordering);
+}
+
+/* ************************************************************************* */
+std::pair<GaussianFactorGraph,Ordering>
+partialCholeskySummarization(const NonlinearFactorGraph& graph, const Values& values,
+    const KeySet& saved_keys) {
+  // compute a new ordering with non-saved keys first
+  Ordering ordering;
+  KeySet eliminatedKeys;
+  BOOST_FOREACH(const Key& key, values.keys()) {
+    if (!saved_keys.count(key)) {
+      eliminatedKeys.insert(key);
+      ordering += key;
+    }
+  }
+
+  BOOST_FOREACH(const Key& key, saved_keys)
     ordering += key;
 
   // reorder the system
diff --git a/gtsam_unstable/nonlinear/summarization.h b/gtsam_unstable/nonlinear/summarization.h
index 6d1da9cad..7226c810b 100644
--- a/gtsam_unstable/nonlinear/summarization.h
+++ b/gtsam_unstable/nonlinear/summarization.h
@@ -17,9 +17,32 @@
 
 namespace gtsam {
 
-// Sequential graph summarization
-typedef FactorGraph<JacobianFactor> JacobianGraph;
-typedef boost::shared_ptr<JacobianGraph> shared_jacobianGraph;
+/**
+ * Summarization function to remove a subset of variables from a system with the
+ * sequential solver. This does not require that the system be fully constrained.
+ *
+ * @param graph A full nonlinear graph
+ * @param values The chosen linearization point
+ * @param saved_keys is the set of keys for variables that should remain
+ * @return a pair of the remaining graph and the ordering used for linearization
+ */
+std::pair<GaussianFactorGraph,Ordering> GTSAM_UNSTABLE_EXPORT
+sequentialSummarization(const NonlinearFactorGraph& graph, const Values& values,
+    const KeySet& saved_keys);
+
+/**
+ * Summarization function to remove a subset of variables from a system using
+ * a partial cholesky approach.  This does not require that the system be fully constrained.
+ * Performs linearization to apply an ordering.
+ *
+ * @param graph A full nonlinear graph
+ * @param values The chosen linearization point
+ * @param saved_keys is the set of keys for variables that should remain
+ * * @return a pair of the remaining graph and the ordering used for linearization
+ */
+std::pair<GaussianFactorGraph,Ordering> GTSAM_UNSTABLE_EXPORT
+partialCholeskySummarization(const NonlinearFactorGraph& graph, const Values& values,
+    const KeySet& saved_keys);
 
 /**
  * Summarization function that eliminates a set of variables (does not convert to Jacobians)
@@ -33,17 +56,6 @@ GaussianFactorGraph::shared_ptr GTSAM_UNSTABLE_EXPORT summarizeGraphSequential(
     const GaussianFactorGraph& full_graph, const Ordering& ordering,
     const KeySet& saved_keys, bool useQR = false);
 
-/**
- * Summarization function to remove a subset of variables from a system using
- * a partial cholesky approach.  This does not require that the system be fully constrained.
- *
- * Performs linearization to apply an ordering
- */
-std::pair<GaussianFactorGraph,Ordering> GTSAM_UNSTABLE_EXPORT
-partialCholeskySummarization(const NonlinearFactorGraph& graph, const Values& values,
-    const KeySet& overlap_keys);
-
-
 } // \namespace gtsam