diff --git a/matlab/examples/VisualISAMData_triangle.m b/matlab/examples/VisualISAMData_triangle.m
new file mode 100644
index 000000000..b5c4c0e11
--- /dev/null
+++ b/matlab/examples/VisualISAMData_triangle.m
@@ -0,0 +1,32 @@
+function [ data ] = VisualISAMData_triangle()
+%VISUALISAMDATA_TRIANGLE Generate data for visual ISAM triangle example.
+%   Landmarks include 3 points around the world's origin on the z=0 plane. 
+%   Cameras are on a circle at a certain height, looking at the origin.
+%% Create a triangle target, just 3 points on a plane
+nPoints = 3;
+r = 10;
+data.points = {};
+for j=1:nPoints
+    theta = (j-1)*2*pi/nPoints;
+    data.points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]');
+end
+
+%% Create camera cameras on a circle around the triangle
+nCameras = 10;
+height = 10;
+r = 30;
+data.cameras = {};
+data.K = gtsamCal3_S2(500,500,0,640/2,480/2);
+for i=1:nCameras
+    theta = (i-1)*2*pi/nCameras;
+    t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
+    data.cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), data.K);
+end
+
+data.posePriorNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 5.0 5.0 5.0]');
+data.odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 2.0 2.0 2.0]');
+data.pointPriorNoise = gtsamSharedNoiseModel_Sigma(3, 0.1);
+data.measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0);
+
+end
+
diff --git a/matlab/examples/VisualISAMExample_triangle2.m b/matlab/examples/VisualISAMExample_triangle2.m
new file mode 100644
index 000000000..b636ba542
--- /dev/null
+++ b/matlab/examples/VisualISAMExample_triangle2.m
@@ -0,0 +1,16 @@
+%% data
+data = VisualISAMData_triangle();
+
+%% init
+[isam results] = VisualISAMInitialize(data);
+sprintf('Frame 1,2:')
+results
+
+%% Next frame index
+frame_i=3; 
+%% All steps
+while (frame_i<size(data.cameras,2))
+    %% one step
+    [isam results] = VisualISAMStep(frame_i, isam, data, results); frame_i = frame_i+1;
+    results
+end
\ No newline at end of file
diff --git a/matlab/examples/VisualISAMInitialize.m b/matlab/examples/VisualISAMInitialize.m
new file mode 100644
index 000000000..4ccab5f5c
--- /dev/null
+++ b/matlab/examples/VisualISAMInitialize.m
@@ -0,0 +1,33 @@
+function [ isam, results ] = VisualISAMInitialize( data, reorderInterval )
+%VISUALISAMINITIALIZE Initialize the first two poses and update ISAM
+    if (nargin<2), reorderInterval = 1; end
+    isam = visualSLAMISAM(reorderInterval);
+
+    %% Add new factors 
+    newFactors = visualSLAMGraph;
+    newFactors.addPosePrior(symbol('x',1), data.cameras{1}.pose, data.posePriorNoise);
+    newFactors.addPointPrior(symbol('l',1), data.points{1}, data.pointPriorNoise);
+    
+    odometry = data.cameras{1}.pose().between(data.cameras{2}.pose());
+	newFactors.addOdometry(symbol('x',1), symbol('x',2), odometry, data.odometryNoise);
+
+    for i=1:2
+        for j=1:size(data.points,2)
+            zij = data.cameras{i}.project(data.points{j});
+            newFactors.addMeasurement(zij, data.measurementNoise, symbol('x',i), symbol('l',j), data.K);
+        end
+    end
+    
+    %% Initial estimats for new variables
+    initials = visualSLAMValues;
+    initials.insertPose(symbol('x',1), data.cameras{1}.pose);
+    initials.insertPose(symbol('x',2), data.cameras{2}.pose);
+    for j=1:size(data.points,2)
+        initials.insertPoint(symbol('l',j), data.points{j});
+    end
+    
+    %% Update ISAM
+    isam.update(newFactors, initials);
+    results = isam.estimate();
+end
+
diff --git a/matlab/examples/VisualISAMStep.m b/matlab/examples/VisualISAMStep.m
new file mode 100644
index 000000000..3a0aafb0b
--- /dev/null
+++ b/matlab/examples/VisualISAMStep.m
@@ -0,0 +1,24 @@
+function [ isam, results ] = VisualISAMStep( frame_i, isam, data, prevResults )
+%VISUALISAMSTEP Summary of this function goes here
+%   Detailed explanation goes here
+
+    %% Add new factors 
+    newFactors = visualSLAMGraph;
+    frame_i
+    odometry = data.cameras{frame_i-1}.pose().between(data.cameras{frame_i}.pose());
+    newFactors.addOdometry(symbol('x',frame_i-1), symbol('x',frame_i), odometry, data.odometryNoise);
+    for j=1:size(data.points,2)
+        zij = data.cameras{frame_i}.project(data.points{j});
+        newFactors.addMeasurement(zij, data.measurementNoise, symbol('x',frame_i), symbol('l',j), data.K);
+    end
+    
+    %% Initial estimates for new variables
+    initials = visualSLAMValues;
+    prevPose = prevResults.pose(symbol('x',frame_i-1));
+    initials.insertPose(symbol('x',frame_i), prevPose.compose(odometry));
+        
+    isam.update(newFactors, initials);
+    results = isam.estimate();
+
+end
+
diff --git a/matlab/examples/VisualISAM_gui.fig b/matlab/examples/VisualISAM_gui.fig
new file mode 100644
index 000000000..4fb6f6bde
Binary files /dev/null and b/matlab/examples/VisualISAM_gui.fig differ
diff --git a/matlab/examples/VisualISAM_gui.m b/matlab/examples/VisualISAM_gui.m
new file mode 100644
index 000000000..a3efe088e
--- /dev/null
+++ b/matlab/examples/VisualISAM_gui.m
@@ -0,0 +1,176 @@
+function varargout = VisualISAM_gui(varargin)
+% VISUALISAM_GUI MATLAB code for VisualISAM_gui.fig
+%      VISUALISAM_GUI, by itself, creates a new VISUALISAM_GUI or raises the existing
+%      singleton*.
+%
+%      H = VISUALISAM_GUI returns the handle to a new VISUALISAM_GUI or the handle to
+%      the existing singleton*.
+%
+%      VISUALISAM_GUI('CALLBACK',hObject,eventData,handles,...) calls the local
+%      function named CALLBACK in VISUALISAM_GUI.M with the given input arguments.
+%
+%      VISUALISAM_GUI('Property','Value',...) creates a new VISUALISAM_GUI or raises the
+%      existing singleton*.  Starting from the left, property value pairs are
+%      applied to the GUI before VisualISAM_gui_OpeningFcn gets called.  An
+%      unrecognized property name or invalid value makes property application
+%      stop.  All inputs are passed to VisualISAM_gui_OpeningFcn via varargin.
+%
+%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
+%      instance to run (singleton)".
+%
+% See also: GUIDE, GUIDATA, GUIHANDLES
+
+% Edit the above text to modify the response to help VisualISAM_gui
+
+% Last Modified by GUIDE v2.5 07-Jun-2012 23:43:22
+
+% Begin initialization code - DO NOT EDIT
+gui_Singleton = 1;
+gui_State = struct('gui_Name',       mfilename, ...
+                   'gui_Singleton',  gui_Singleton, ...
+                   'gui_OpeningFcn', @VisualISAM_gui_OpeningFcn, ...
+                   'gui_OutputFcn',  @VisualISAM_gui_OutputFcn, ...
+                   'gui_LayoutFcn',  [] , ...
+                   'gui_Callback',   []);
+if nargin && ischar(varargin{1})
+    gui_State.gui_Callback = str2func(varargin{1});
+end
+
+if nargout
+    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
+else
+    gui_mainfcn(gui_State, varargin{:});
+end
+% End initialization code - DO NOT EDIT
+
+
+% --- Executes just before VisualISAM_gui is made visible.
+function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin)
+% This function has no output args, see OutputFcn.
+% hObject    handle to figure
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+% varargin   command line arguments to VisualISAM_gui (see VARARGIN)
+
+% handles.data = VisualISAMData_triangle();
+% handles.frame_i = 3;
+% handles.isam = visualSLAMISAM;
+% handles.results = visualSLAMValues;
+
+% Choose default command line output for VisualISAM_gui
+handles.output = hObject;
+
+% Update handles structure
+guidata(hObject, handles);
+
+% UIWAIT makes VisualISAM_gui wait for user response (see UIRESUME)
+% uiwait(handles.figure1);
+
+
+% --- Outputs from this function are returned to the command line.
+function varargout = VisualISAM_gui_OutputFcn(hObject, eventdata, handles) 
+% varargout  cell array for returning output args (see VARARGOUT);
+% hObject    handle to figure
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Get default command line output from handles structure
+varargout{1} = handles.output;
+
+
+% --- Executes on button press in generateButton.
+function generateButton_Callback(hObject, eventdata, handles)
+% hObject    handle to generateButton (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+    handles.data = VisualISAMData_triangle();
+    guidata(hObject,handles)
+
+
+% --- Executes on button press in intializeButton.
+function intializeButton_Callback(hObject, eventdata, handles)
+% hObject    handle to intializeButton (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+    [handles.isam handles.results] = VisualISAMInitialize(handles.data);
+    handles.frame_i=3;
+    sprintf('Frame 1,2:')
+    handles.results
+    guidata(hObject,handles)
+    
+
+% --- Executes on button press in stepButton.
+function stepButton_Callback(hObject, eventdata, handles)
+% hObject    handle to stepButton (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+    handles.frame_i
+    handles.results
+    if (handles.frame_i<size(handles.data.cameras,2))
+        [handles.isam handles.results] = VisualISAMStep(handles.frame_i, handles.isam, handles.data, handles.results); 
+        handles.frame_i = handles.frame_i+1;
+        handles.results
+        guidata(hObject,handles)
+    else
+        sprintf('No more frame!')
+    end
+    
+
+% --- Executes on button press in clearButton.
+function clearButton_Callback(hObject, eventdata, handles)
+% hObject    handle to clearButton (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+    clear;
+    
+
+function edit1_Callback(hObject, eventdata, handles)
+% hObject    handle to edit1 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: get(hObject,'String') returns contents of edit1 as text
+%        str2double(get(hObject,'String')) returns contents of edit1 as a double
+
+
+% --- Executes during object creation, after setting all properties.
+function edit1_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to edit1 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    empty - handles not created until after all CreateFcns called
+
+% Hint: edit controls usually have a white background on Windows.
+%       See ISPC and COMPUTER.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+    set(hObject,'BackgroundColor','white');
+end
+
+
+% --- Executes on selection change in popupmenu1.
+function popupmenu1_Callback(hObject, eventdata, handles)
+% hObject    handle to popupmenu1 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    structure with handles and user data (see GUIDATA)
+
+% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu1 contents as cell array
+%        contents{get(hObject,'Value')} returns selected item from popupmenu1
+
+
+% --- Executes during object creation, after setting all properties.
+function popupmenu1_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to popupmenu1 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    empty - handles not created until after all CreateFcns called
+
+% Hint: popupmenu controls usually have a white background on Windows.
+%       See ISPC and COMPUTER.
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+    set(hObject,'BackgroundColor','white');
+end
+
+
+% --- Executes during object creation, after setting all properties.
+function figure1_CreateFcn(hObject, eventdata, handles)
+% hObject    handle to figure1 (see GCBO)
+% eventdata  reserved - to be defined in a future version of MATLAB
+% handles    empty - handles not created until after all CreateFcns called