diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index 8e185eb3b..de1e1f867 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -62,40 +62,99 @@ TableFactor::TableFactor(const DiscreteKeys& dkeys,
     : TableFactor(dkeys, DecisionTreeFactor(dkeys, dtree)) {}
 
 /**
- * @brief Compute the correct ordering of the leaves in the decision tree.
+ * @brief Compute the indexing of the leaves in the decision tree based on the
+ * assignment and add the (index, leaf) pair to a SparseVector.
  *
- * This is done by first taking all the values which have modulo 0 value with
- * the cardinality of the innermost key `n`, and we go up to modulo n.
+ * We visit each leaf in the tree, and using the cardinalities of the keys,
+ * compute the correct index to add the leaf to a SparseVector which
+ *  is then used to create the TableFactor.
  *
  * @param dt The DecisionTree
- * @return std::vector<double>
+ * @return Eigen::SparseVector<double>
  */
-std::vector<double> ComputeLeafOrdering(const DiscreteKeys& dkeys,
-                                        const DecisionTreeFactor& dt) {
-  std::vector<double> probs = dt.probabilities();
-  std::vector<double> ordered;
+static Eigen::SparseVector<double> ComputeSparseTable(
+    const DiscreteKeys& dkeys, const DecisionTreeFactor& dt) {
+  // SparseVector needs to know the maximum possible index,
+  // so we compute the product of cardinalities.
+  size_t cardinalityProduct = 1;
+  for (auto&& [_, c] : dt.cardinalities()) {
+    cardinalityProduct *= c;
+  }
+  Eigen::SparseVector<double> sparseTable(cardinalityProduct);
+  size_t nrValues = 0;
+  dt.visit([&nrValues](double x) {
+    if (x > 0) nrValues += 1;
+  });
+  sparseTable.reserve(nrValues);
 
-  size_t n = dkeys[0].second;
+  std::set<Key> allKeys(dt.keys().begin(), dt.keys().end());
 
-  for (size_t k = 0; k < n; ++k) {
-    for (size_t idx = 0; idx < probs.size(); ++idx) {
-      if (idx % n == k) {
-        ordered.push_back(probs[idx]);
+  /**
+   * @brief Functor which is called by the DecisionTree for each leaf.
+   * For each leaf value, we use the corresponding assignment to compute a
+   * corresponding index into a SparseVector. We then populate sparseTable with
+   * the value at the computed index.
+   *
+   * Takes advantage of the sparsity of the DecisionTree to be efficient. When
+   * merged branches are encountered, we enumerate over the missing keys.
+   *
+   */
+  auto op = [&](const Assignment<Key>& assignment, double p) {
+    if (p > 0) {
+      // Get all the keys involved in this assignment
+      std::set<Key> assignmentKeys;
+      for (auto&& [k, _] : assignment) {
+        assignmentKeys.insert(k);
+      }
+
+      // Find the keys missing in the assignment
+      std::vector<Key> diff;
+      std::set_difference(allKeys.begin(), allKeys.end(),
+                          assignmentKeys.begin(), assignmentKeys.end(),
+                          std::back_inserter(diff));
+
+      // Generate all assignments using the missing keys
+      DiscreteKeys extras;
+      for (auto&& key : diff) {
+        extras.push_back({key, dt.cardinality(key)});
+      }
+      auto&& extraAssignments = DiscreteValues::CartesianProduct(extras);
+
+      for (auto&& extra : extraAssignments) {
+        // Create new assignment using the extra assignment
+        DiscreteValues updatedAssignment(assignment);
+        updatedAssignment.insert(extra);
+
+        // Generate index and add to the sparse vector.
+        Eigen::Index idx = 0;
+        size_t previousCardinality = 1;
+        // We go in reverse since a DecisionTree has the highest label first
+        for (auto&& it = updatedAssignment.rbegin();
+             it != updatedAssignment.rend(); it++) {
+          idx += previousCardinality * it->second;
+          previousCardinality *= dt.cardinality(it->first);
+        }
+        sparseTable.coeffRef(idx) = p;
       }
     }
-  }
-  return ordered;
+  };
+
+  // Visit each leaf in `dt` to get the Assignment and leaf value
+  // to populate the sparseTable.
+  dt.visitWith(op);
+
+  return sparseTable;
 }
 
 /* ************************************************************************ */
 TableFactor::TableFactor(const DiscreteKeys& dkeys,
                          const DecisionTreeFactor& dtf)
-    : TableFactor(dkeys, ComputeLeafOrdering(dkeys, dtf)) {}
+    : TableFactor(dkeys, ComputeSparseTable(dkeys, dtf)) {}
 
 /* ************************************************************************ */
 TableFactor::TableFactor(const DecisionTreeFactor& dtf)
     : TableFactor(dtf.discreteKeys(),
-                  ComputeLeafOrdering(dtf.discreteKeys(), dtf)) {}
+                  ComputeSparseTable(dtf.discreteKeys(), dtf)) {}
 
 /* ************************************************************************ */
 TableFactor::TableFactor(const DiscreteConditional& c)
diff --git a/gtsam/discrete/tests/testTableFactor.cpp b/gtsam/discrete/tests/testTableFactor.cpp
index 212067cb3..a455faaaa 100644
--- a/gtsam/discrete/tests/testTableFactor.cpp
+++ b/gtsam/discrete/tests/testTableFactor.cpp
@@ -147,6 +147,34 @@ TEST(TableFactor, constructors) {
   EXPECT(assert_inequal(f5_with_wrong_keys, f5, 1e-9));
 }
 
+/* ************************************************************************* */
+// Check conversion from DecisionTreeFactor.
+TEST(TableFactor, Conversion) {
+  /* This is the DecisionTree we are using
+  Choice(m2)
+  0 Choice(m1)
+  0 0 Leaf    0
+  0 1 Choice(m0)
+  0 1 0 Leaf    0
+  0 1 1 Leaf 0.14649446  // 3
+  1 Choice(m1)
+  1 0 Choice(m0)
+  1 0 0 Leaf    0
+  1 0 1 Leaf 0.14648756  // 5
+  1 1 Choice(m0)
+  1 1 0 Leaf 0.14649446  // 6
+  1 1 1 Leaf 0.23918345  // 7
+  */
+  DiscreteKeys dkeys = {{0, 2}, {1, 2}, {2, 2}};
+  DecisionTreeFactor dtf(
+      dkeys, std::vector<double>{0, 0, 0, 0.14649446, 0, 0.14648756, 0.14649446,
+                                 0.23918345});
+
+  TableFactor tf(dtf.discreteKeys(), dtf);
+
+  EXPECT(assert_equal(dtf, tf.toDecisionTreeFactor()));
+}
+
 /* ************************************************************************* */
 // Check multiplication between two TableFactors.
 TEST(TableFactor, multiplication) {