diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h
index e89d570b7..b1603efe2 100644
--- a/gtsam_unstable/dynamics/PoseRTV.h
+++ b/gtsam_unstable/dynamics/PoseRTV.h
@@ -34,11 +34,11 @@ public:
   PoseRTV(const Rot3& rot, const Point3& t, const Velocity3& vel)
   : Base(Pose3(rot, t), vel) {}
   explicit PoseRTV(const Point3& t)
-  : Base(Pose3(Rot3(), t),Velocity3()) {}
+  : Base(Pose3(Rot3(), t),Vector3::Zero()) {}
   PoseRTV(const Pose3& pose, const Velocity3& vel)
   : Base(pose, vel) {}
   explicit PoseRTV(const Pose3& pose)
-  : Base(pose,Velocity3()) {}
+  : Base(pose,Vector3::Zero()) {}
 
   // Construct from Base
   PoseRTV(const Base& base)
diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp
index ff3508f45..36f097a37 100644
--- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp
+++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp
@@ -32,7 +32,7 @@ TEST( testPoseRTV, constructors ) {
   PoseRTV state2;
   EXPECT(assert_equal(Point3(),  state2.t(), tol));
   EXPECT(assert_equal(Rot3(), state2.R(), tol));
-  EXPECT(assert_equal(Velocity3(), state2.v(), tol));
+  EXPECT(assert_equal(zero(3), state2.v(), tol));
   EXPECT(assert_equal(Pose3(), state2.pose(), tol));
 
   PoseRTV state3(Pose3(rot, pt), vel);
@@ -44,7 +44,7 @@ TEST( testPoseRTV, constructors ) {
   PoseRTV state4(Pose3(rot, pt));
   EXPECT(assert_equal(pt,  state4.t(), tol));
   EXPECT(assert_equal(rot, state4.R(), tol));
-  EXPECT(assert_equal(Velocity3(), state4.v(), tol));
+  EXPECT(assert_equal(zero(3), state4.v(), tol));
   EXPECT(assert_equal(Pose3(rot, pt), state4.pose(), tol));
 
   Vector vec_init = (Vector(9) << 0.1, 0.2, 0.3,  1.0, 2.0, 3.0,  0.4, 0.5, 0.6).finished();