diff --git a/gtsam/groups.dox b/gtsam/groups.dox
index 6f7124c42..4a52371a5 100644
--- a/gtsam/groups.dox
+++ b/gtsam/groups.dox
@@ -1,7 +1,7 @@
 /**
 
 \defgroup LinearSolving Solving of sparse linear systems with least-squares
-@{
+@{ @}
 
 \defgroup Multifrontal Solving by multifrontal variable elimination (QR and Cholesky)
 @{ @}
@@ -9,9 +9,42 @@
 \defgroup Sequential Solving by sequential variable elimination (QR and Cholesky)
 @{ @}
 
-@}
-
-\defgroup SLAM Useful SLAM components
+\defgroup basis Basis
 @{ @}
 
-*/
+\defgroup discrete Discrete
+@{ @}
+
+\defgroup geometry Geometry
+@{
+  Geometric primitives.
+@}
+
+\defgroup hybrid Hybrid
+@{ @}
+
+\defgroup inference Inference
+@{ @}
+
+\defgroup linear Linear
+@{ @}
+
+\defgroup navigation Navigation
+@{ @}
+
+\defgroup nonlinear Nonlinear
+@{ @}
+
+\defgroup sam SAM
+@{ @}
+
+\defgroup sfm SFM
+@{ @}
+
+\defgroup slam SLAM
+@{ Useful SLAM components @}
+
+\defgroup symbolic Symbolic
+@{ @}
+
+*/