diff --git a/gtsam.h b/gtsam.h
index 7619c7854..9d1c0391e 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1217,6 +1217,14 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
       const gtsam::noiseModel::Diagonal* model);
   JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
       Vector b, const gtsam::noiseModel::Diagonal* model);
+  JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
+      size_t i4, Matrix A4, Vector b, const gtsam::noiseModel::Diagonal* model);
+  JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
+      size_t i4, Matrix A4, size_t i5, Matrix A5, Vector b,
+      const gtsam::noiseModel::Diagonal* model);
+  JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
+      size_t i4, Matrix A4, size_t i5, Matrix A5, size_t i6, Matrix A6, Vector b,
+      const gtsam::noiseModel::Diagonal* model);
   JacobianFactor(const gtsam::GaussianFactorGraph& graph);
 
   //Testable
diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index 0eb148d36..dd9664935 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -102,6 +102,34 @@ JacobianFactor::JacobianFactor(const Key i1, const Matrix& A1, Key i2,
       b, model);
 }
 
+/* ************************************************************************* */
+JacobianFactor::JacobianFactor(const Key i1, const Matrix& A1, Key i2,
+    const Matrix& A2, Key i3, const Matrix& A3, Key i4, const Matrix& A4,
+    const Vector& b, const SharedDiagonal& model) {
+  fillTerms(
+      cref_list_of<4>(make_pair(i1, A1))(make_pair(i2, A2))(make_pair(i3, A3))
+        (make_pair(i4, A4)), b, model);
+}
+
+/* ************************************************************************* */
+JacobianFactor::JacobianFactor(const Key i1, const Matrix& A1, Key i2,
+    const Matrix& A2, Key i3, const Matrix& A3, Key i4, const Matrix& A4,
+    Key i5, const Matrix& A5, const Vector& b, const SharedDiagonal& model) {
+  fillTerms(
+      cref_list_of<5>(make_pair(i1, A1))(make_pair(i2, A2))(make_pair(i3, A3))
+        (make_pair(i4, A4))(make_pair(i5, A5)), b, model);
+}
+
+/* ************************************************************************* */
+JacobianFactor::JacobianFactor(const Key i1, const Matrix& A1, Key i2,
+    const Matrix& A2, Key i3, const Matrix& A3, Key i4, const Matrix& A4,
+    Key i5, const Matrix& A5, Key i6, const Matrix& A6, const Vector& b,
+    const SharedDiagonal& model) {
+  fillTerms(
+      cref_list_of<6>(make_pair(i1, A1))(make_pair(i2, A2))(make_pair(i3, A3))
+        (make_pair(i4, A4))(make_pair(i5, A5))(make_pair(i6, A6)), b, model);
+}
+
 /* ************************************************************************* */
 JacobianFactor::JacobianFactor(const HessianFactor& factor) :
     Base(factor), Ab_(
@@ -115,9 +143,6 @@ JacobianFactor::JacobianFactor(const HessianFactor& factor) :
   bool success;
   boost::tie(maxrank, success) = choleskyCareful(Ab_.matrix());
 
-  factor.print("HessianFactor to convert: ");
-  cout << "Maxrank: " << maxrank << ", success: " << int(success) << endl;
-
   // Check for indefinite system
   if (!success)
     throw IndeterminantLinearSystemException(factor.keys().front());
diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index e3c55feb2..ce2a47ab3 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -126,6 +126,22 @@ namespace gtsam {
         const Matrix& A2, Key i3, const Matrix& A3,
         const Vector& b, const SharedDiagonal& model = SharedDiagonal());
 
+    /** Construct four-ary factor */
+    JacobianFactor(Key i1, const Matrix& A1, Key i2,
+        const Matrix& A2, Key i3, const Matrix& A3, Key i4, const Matrix& A4,
+        const Vector& b, const SharedDiagonal& model = SharedDiagonal());
+
+    /** Construct five-ary factor */
+    JacobianFactor(Key i1, const Matrix& A1, Key i2,
+        const Matrix& A2, Key i3, const Matrix& A3, Key i4, const Matrix& A4,
+        Key i5, const Matrix& A5, const Vector& b, const SharedDiagonal& model = SharedDiagonal());
+
+    /** Construct six-ary factor */
+    JacobianFactor(Key i1, const Matrix& A1, Key i2,
+        const Matrix& A2, Key i3, const Matrix& A3, Key i4, const Matrix& A4,
+        Key i5, const Matrix& A5, Key i6, const Matrix& A6,
+        const Vector& b, const SharedDiagonal& model = SharedDiagonal());
+
     /** Construct an n-ary factor
      * @tparam TERMS A container whose value type is std::pair<Key, Matrix>, specifying the
      *         collection of keys and matrices making up the factor. */