diff --git a/gtsam/navigation/AHRSFactor.cpp b/gtsam/navigation/AHRSFactor.cpp
index 137f102b3..195490e87 100644
--- a/gtsam/navigation/AHRSFactor.cpp
+++ b/gtsam/navigation/AHRSFactor.cpp
@@ -99,7 +99,7 @@ void AHRSFactor::PreintegratedMeasurements::integrateMeasurement(
   const Matrix3 incrRt = incrR.transpose();
 
   // Right Jacobian computed at theta_incr
-  const Matrix3 Jr_theta_incr = Rot3::rightJacobianExpMapSO3(theta_incr);
+  const Matrix3 Jr_theta_incr = Rot3::ExpmapDerivative(theta_incr);
 
   // Update Jacobians
   // ---------------------------------------------------------------------------
@@ -108,11 +108,11 @@ void AHRSFactor::PreintegratedMeasurements::integrateMeasurement(
   // Update preintegrated measurements covariance
   // ---------------------------------------------------------------------------
   const Vector3 theta_i = Rot3::Logmap(deltaRij_); // Parameterization of so(3)
-  const Matrix3 Jr_theta_i = Rot3::rightJacobianExpMapSO3inverse(theta_i);
+  const Matrix3 Jr_theta_i = Rot3::LogmapDerivative(theta_i);
 
   Rot3 Rot_j = deltaRij_ * incrR;
   const Vector3 theta_j = Rot3::Logmap(Rot_j); // Parameterization of so(3)
-  const Matrix3 Jrinv_theta_j = Rot3::rightJacobianExpMapSO3inverse(theta_j);
+  const Matrix3 Jrinv_theta_j = Rot3::LogmapDerivative(theta_j);
 
   // Update preintegrated measurements covariance: as in [2] we consider a first
   // order propagation that can be seen as a prediction phase in an EKF framework
@@ -145,9 +145,9 @@ Vector3 AHRSFactor::PreintegratedMeasurements::predict(const Vector3& bias,
   const Vector3 theta_biascorrected = Rot3::Logmap(deltaRij_biascorrected);
   if (H) {
     const Matrix3 Jrinv_theta_bc = //
-        Rot3::rightJacobianExpMapSO3inverse(theta_biascorrected);
+        Rot3::LogmapDerivative(theta_biascorrected);
     const Matrix3 Jr_JbiasOmegaIncr = //
-        Rot3::rightJacobianExpMapSO3(delRdelBiasOmega_biasOmegaIncr);
+        Rot3::ExpmapDerivative(delRdelBiasOmega_biasOmegaIncr);
     (*H) = Jrinv_theta_bc * Jr_JbiasOmegaIncr * delRdelBiasOmega_;
   }
   return theta_biascorrected;
@@ -238,8 +238,8 @@ Vector AHRSFactor::evaluateError(const Rot3& rot_i, const Rot3& rot_j,
   Vector3 fR = Rot3::Logmap(fRhat);
 
   // Terms common to derivatives
-  const Matrix3 Jr_theta_bcc = Rot3::rightJacobianExpMapSO3(theta_corrected);
-  const Matrix3 Jrinv_fRhat = Rot3::rightJacobianExpMapSO3inverse(fR);
+  const Matrix3 Jr_theta_bcc = Rot3::ExpmapDerivative(theta_corrected);
+  const Matrix3 Jrinv_fRhat = Rot3::LogmapDerivative(fR);
 
   if (H1) {
     // dfR/dRi
diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index a2ce631ea..10f12ec66 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -116,7 +116,7 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement(
 
   const Vector3 theta_incr = correctedOmega * deltaT; // rotation vector describing rotation increment computed from the current rotation rate measurement
   const Rot3 Rincr = Rot3::Expmap(theta_incr); // rotation increment computed from the current rotation rate measurement
-  const Matrix3 Jr_theta_incr = Rot3::rightJacobianExpMapSO3(theta_incr); // Right jacobian computed at theta_incr
+  const Matrix3 Jr_theta_incr = Rot3::ExpmapDerivative(theta_incr); // Right jacobian computed at theta_incr
 
   // Update Jacobians
   /* ----------------------------------------------------------------------------------------------------------------------- */
@@ -138,11 +138,11 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement(
   // consider the uncertainty of the bias selection and we keep correlation between biases and preintegrated measurements
   /* ----------------------------------------------------------------------------------------------------------------------- */
   const Vector3 theta_i = Rot3::Logmap(deltaRij_); // parametrization of so(3)
-  const Matrix3 Jr_theta_i = Rot3::rightJacobianExpMapSO3(theta_i);
+  const Matrix3 Jr_theta_i = Rot3::ExpmapDerivative(theta_i);
 
   Rot3 Rot_j = deltaRij_ * Rincr;
   const Vector3 theta_j = Rot3::Logmap(Rot_j); // parametrization of so(3)
-  const Matrix3 Jrinv_theta_j = Rot3::rightJacobianExpMapSO3inverse(theta_j);
+  const Matrix3 Jrinv_theta_j = Rot3::LogmapDerivative(theta_j);
 
   // Single Jacobians to propagate covariance
   Matrix3 H_pos_pos    = I_3x3;
@@ -293,11 +293,11 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_
 
   const Rot3 fRhat = deltaRij_biascorrected_corioliscorrected.between(Rot_i.between(Rot_j));
 
-  const Matrix3 Jr_theta_bcc = Rot3::rightJacobianExpMapSO3(theta_biascorrected_corioliscorrected);
+  const Matrix3 Jr_theta_bcc = Rot3::ExpmapDerivative(theta_biascorrected_corioliscorrected);
 
   const Matrix3 Jtheta = -Jr_theta_bcc  * skewSymmetric(Rot_i.inverse().matrix() * omegaCoriolis_ * deltaTij);
 
-  const Matrix3 Jrinv_fRhat = Rot3::rightJacobianExpMapSO3inverse(Rot3::Logmap(fRhat));
+  const Matrix3 Jrinv_fRhat = Rot3::LogmapDerivative(Rot3::Logmap(fRhat));
 
   if(H1) {
     H1->resize(15,6);
@@ -382,8 +382,8 @@ Vector CombinedImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_
   }
 
   if(H5) {
-    const Matrix3 Jrinv_theta_bc = Rot3::rightJacobianExpMapSO3inverse(theta_biascorrected);
-    const Matrix3 Jr_JbiasOmegaIncr = Rot3::rightJacobianExpMapSO3(preintegratedMeasurements_.delRdelBiasOmega_ * biasOmegaIncr);
+    const Matrix3 Jrinv_theta_bc = Rot3::LogmapDerivative(theta_biascorrected);
+    const Matrix3 Jr_JbiasOmegaIncr = Rot3::ExpmapDerivative(preintegratedMeasurements_.delRdelBiasOmega_ * biasOmegaIncr);
     const Matrix3 JbiasOmega = Jr_theta_bcc * Jrinv_theta_bc * Jr_JbiasOmegaIncr * preintegratedMeasurements_.delRdelBiasOmega_;
 
     H5->resize(15,6);
diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp
index 9a9cc9d62..cdebffa63 100644
--- a/gtsam/navigation/ImuFactor.cpp
+++ b/gtsam/navigation/ImuFactor.cpp
@@ -113,7 +113,7 @@ void ImuFactor::PreintegratedMeasurements::integrateMeasurement(
   const Vector3 theta_incr = correctedOmega * deltaT; // rotation vector describing rotation increment computed from the current rotation rate measurement
   const Rot3 Rincr = Rot3::Expmap(theta_incr); // rotation increment computed from the current rotation rate measurement
 
-  const Matrix3 Jr_theta_incr = Rot3::rightJacobianExpMapSO3(theta_incr); // Right jacobian computed at theta_incr
+  const Matrix3 Jr_theta_incr = Rot3::ExpmapDerivative(theta_incr); // Right jacobian computed at theta_incr
 
   // Update Jacobians
   /* ----------------------------------------------------------------------------------------------------------------------- */
@@ -133,11 +133,11 @@ void ImuFactor::PreintegratedMeasurements::integrateMeasurement(
   // as in [2] we consider a first order propagation that can be seen as a prediction phase in an EKF framework
   /* ----------------------------------------------------------------------------------------------------------------------- */
   const Vector3 theta_i = Rot3::Logmap(deltaRij_); // parametrization of so(3)
-  const Matrix3 Jr_theta_i = Rot3::rightJacobianExpMapSO3(theta_i);
+  const Matrix3 Jr_theta_i = Rot3::ExpmapDerivative(theta_i);
 
   Rot3 Rot_j = deltaRij_ * Rincr;
   const Vector3 theta_j = Rot3::Logmap(Rot_j); // parametrization of so(3)
-  const Matrix3 Jrinv_theta_j = Rot3::rightJacobianExpMapSO3inverse(theta_j);
+  const Matrix3 Jrinv_theta_j = Rot3::LogmapDerivative(theta_j);
 
   Matrix H_pos_pos    = I_3x3;
   Matrix H_pos_vel    = I_3x3 * deltaT;
@@ -275,11 +275,11 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, const
 
   const Rot3 fRhat = deltaRij_biascorrected_corioliscorrected.between(Rot_i.between(Rot_j));
 
-  const Matrix3 Jr_theta_bcc = Rot3::rightJacobianExpMapSO3(theta_biascorrected_corioliscorrected);
+  const Matrix3 Jr_theta_bcc = Rot3::ExpmapDerivative(theta_biascorrected_corioliscorrected);
 
   const Matrix3 Jtheta = -Jr_theta_bcc  * skewSymmetric(Rot_i.inverse().matrix() * omegaCoriolis_ * deltaTij);
 
-  const Matrix3 Jrinv_fRhat = Rot3::rightJacobianExpMapSO3inverse(Rot3::Logmap(fRhat));
+  const Matrix3 Jrinv_fRhat = Rot3::LogmapDerivative(Rot3::Logmap(fRhat));
 
   if(H1) {
     H1->resize(9,6);
@@ -348,8 +348,8 @@ Vector ImuFactor::evaluateError(const Pose3& pose_i, const Vector3& vel_i, const
   }
 
   if(H5) {
-    const Matrix3 Jrinv_theta_bc = Rot3::rightJacobianExpMapSO3inverse(theta_biascorrected);
-    const Matrix3 Jr_JbiasOmegaIncr = Rot3::rightJacobianExpMapSO3(preintegratedMeasurements_.delRdelBiasOmega_ * biasOmegaIncr);
+    const Matrix3 Jrinv_theta_bc = Rot3::LogmapDerivative(theta_biascorrected);
+    const Matrix3 Jr_JbiasOmegaIncr = Rot3::ExpmapDerivative(preintegratedMeasurements_.delRdelBiasOmega_ * biasOmegaIncr);
     const Matrix3 JbiasOmega = Jr_theta_bcc * Jrinv_theta_bc * Jr_JbiasOmegaIncr * preintegratedMeasurements_.delRdelBiasOmega_;
 
     H5->resize(9,6);
diff --git a/gtsam/navigation/tests/testAHRSFactor.cpp b/gtsam/navigation/tests/testAHRSFactor.cpp
index e6ecf42a3..99952f99e 100644
--- a/gtsam/navigation/tests/testAHRSFactor.cpp
+++ b/gtsam/navigation/tests/testAHRSFactor.cpp
@@ -241,7 +241,7 @@ TEST( AHRSFactor, PartialDerivativeExpmap ) {
   Matrix expectedDelRdelBiasOmega = numericalDerivative11<Rot3, Vector3>(
       boost::bind(&evaluateRotation, measuredOmega, _1, deltaT), biasOmega);
 
-  const Matrix3 Jr = Rot3::rightJacobianExpMapSO3(
+  const Matrix3 Jr = Rot3::ExpmapDerivative(
       (measuredOmega - biasOmega) * deltaT);
 
   Matrix3 actualdelRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign
@@ -293,7 +293,7 @@ TEST( AHRSFactor, fistOrderExponential ) {
   Vector3 deltabiasOmega;
   deltabiasOmega << alpha, alpha, alpha;
 
-  const Matrix3 Jr = Rot3::rightJacobianExpMapSO3(
+  const Matrix3 Jr = Rot3::ExpmapDerivative(
       (measuredOmega - biasOmega) * deltaT);
 
   Matrix3 delRdelBiasOmega = -Jr * deltaT; // the delta bias appears with the minus sign
diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp
index cf81c32ae..06e2c105e 100644
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@@ -307,7 +307,7 @@ TEST( ImuFactor, PartialDerivativeExpmap )
   Matrix expectedDelRdelBiasOmega = numericalDerivative11<Rot3, Vector3>(boost::bind(
       &evaluateRotation, measuredOmega, _1, deltaT), Vector3(biasOmega));
 
-  const Matrix3 Jr = Rot3::rightJacobianExpMapSO3((measuredOmega - biasOmega) * deltaT);
+  const Matrix3 Jr = Rot3::ExpmapDerivative((measuredOmega - biasOmega) * deltaT);
 
    Matrix3  actualdelRdelBiasOmega = - Jr * deltaT; // the delta bias appears with the minus sign
 
@@ -355,7 +355,7 @@ TEST( ImuFactor, fistOrderExponential )
   Vector3 deltabiasOmega; deltabiasOmega << alpha,alpha,alpha;
 
 
-  const Matrix3 Jr = Rot3::rightJacobianExpMapSO3((measuredOmega - biasOmega) * deltaT);
+  const Matrix3 Jr = Rot3::ExpmapDerivative((measuredOmega - biasOmega) * deltaT);
 
   Matrix3  delRdelBiasOmega = - Jr * deltaT; // the delta bias appears with the minus sign