diff --git a/gtsam.h b/gtsam.h
index 0e2367cc6..315071f65 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -834,7 +834,7 @@ class Odometry {
 // Simulated2D
 //*************************************************************************
 
-#include <gtsam/slam/simulated2D.h>
+#include <tests/simulated2D.h>
 namespace simulated2D {
 
 class Values {
@@ -856,7 +856,7 @@ class Graph {
 }///\namespace simulated2D
 
 // Simulated2DOriented Example Domain
-#include <gtsam/slam/simulated2DOriented.h>
+#include <tests/simulated2DOriented.h>
 namespace simulated2DOriented {
 
 class Values {
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index 7a7af3232..2d9f597bd 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -6,7 +6,6 @@ set (gtsam_unstable_subdirs
     dynamics
     linear
     nonlinear
-    slam 
 )
 
 add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
@@ -33,7 +32,6 @@ set(gtsam_unstable_srcs
     ${dynamics_srcs}
     ${linear_srcs}    
     ${nonlinear_srcs}
-    ${slam_srcs} 
 )
 
 option (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam_unstable" ON)
diff --git a/gtsam_unstable/slam/CMakeLists.txt b/gtsam_unstable/slam/CMakeLists.txt
deleted file mode 100644
index afe453279..000000000
--- a/gtsam_unstable/slam/CMakeLists.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-# Install headers
-file(GLOB slam_headers "*.h")
-install(FILES ${slam_headers} DESTINATION include/gtsam_unstable/slam)
-
-# Components to link tests in this subfolder against
-set(slam_local_libs 
-   slam_unstable
-   slam
-   nonlinear
-   linear
-   inference
-   geometry
-   base
-   ccolamd
-)
-
-set (slam_full_libs
-    gtsam-static
-    gtsam_unstable-static)
-
-# Exclude tests that don't work
-set (slam_excluded_tests "")
-
-# Add all tests
-gtsam_add_subdir_tests(slam_unstable "${slam_local_libs}" "${slam_full_libs}" "${slam_excluded_tests}") 
-add_dependencies(check.unstable check.slam_unstable)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 4d29dd557..9e4c501d4 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,4 +1,14 @@
+# Build a library of example domains, just for tests
+file(GLOB test_lib_srcs "*.cpp")
+file(GLOB test_srcs "test*.cpp")
+file(GLOB time_srcs "time*.cpp")
+list(REMOVE_ITEM test_lib_srcs ${test_srcs})
+list(REMOVE_ITEM test_lib_srcs ${time_srcs})
+add_library(test_lib STATIC ${test_lib_srcs})
+
+# Assemble local libraries
 set(tests_local_libs
+   test_lib
    slam
    nonlinear
    linear
@@ -24,7 +34,7 @@ if (GTSAM_BUILD_TESTS)
     # Build grouped tests
     gtsam_add_grouped_scripts("tests"               # Use subdirectory as group label
     "test*.cpp" check "Test"                      # Standard for all tests
-    "${tests_local_libs}" "gtsam-static;CppUnitLite" "${tests_exclude}"  # Pass in linking and exclusion lists
+    "${tests_local_libs}" "gtsam-static;CppUnitLite;test_lib" "${tests_exclude}"  # Pass in linking and exclusion lists
     ${is_test})                                         # Set all as tests
 endif (GTSAM_BUILD_TESTS)
 
@@ -37,6 +47,6 @@ if (GTSAM_BUILD_TIMING)
     # Build grouped benchmarks
     gtsam_add_grouped_scripts("tests"               # Use subdirectory as group label
     "time*.cpp" timing "Timing Benchmark"         # Standard for all timing scripts
-    "${tests_local_libs}" "gtsam-static;CppUnitLite" "${tests_exclude}"   # Pass in linking and exclusion lists
+    "${tests_local_libs}" "gtsam-static;CppUnitLite;test_lib" "${tests_exclude}"   # Pass in linking and exclusion lists
     ${is_test})
 endif (GTSAM_BUILD_TIMING)
diff --git a/gtsam/slam/simulated2D.cpp b/tests/simulated2D.cpp
similarity index 97%
rename from gtsam/slam/simulated2D.cpp
rename to tests/simulated2D.cpp
index 95dfef0e5..199a6756b 100644
--- a/gtsam/slam/simulated2D.cpp
+++ b/tests/simulated2D.cpp
@@ -15,7 +15,7 @@
  * @author  Frank Dellaert
  */
 
-#include <gtsam/slam/simulated2D.h>
+#include <tests/simulated2D.h>
 
 namespace simulated2D {
 
diff --git a/gtsam/slam/simulated2D.h b/tests/simulated2D.h
similarity index 100%
rename from gtsam/slam/simulated2D.h
rename to tests/simulated2D.h
diff --git a/gtsam/slam/simulated2DConstraints.h b/tests/simulated2DConstraints.h
similarity index 99%
rename from gtsam/slam/simulated2DConstraints.h
rename to tests/simulated2DConstraints.h
index 4594a8e1f..cf0266d86 100644
--- a/gtsam/slam/simulated2DConstraints.h
+++ b/tests/simulated2DConstraints.h
@@ -24,7 +24,7 @@
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/BoundingConstraint.h>
-#include <gtsam/slam/simulated2D.h>
+#include <tests/simulated2D.h>
 
 // \namespace
 
diff --git a/gtsam/slam/simulated2DOriented.cpp b/tests/simulated2DOriented.cpp
similarity index 96%
rename from gtsam/slam/simulated2DOriented.cpp
rename to tests/simulated2DOriented.cpp
index 947aaddc5..c7d1d8469 100644
--- a/gtsam/slam/simulated2DOriented.cpp
+++ b/tests/simulated2DOriented.cpp
@@ -15,7 +15,7 @@
  * @author  Frank Dellaert
  */
 
-#include <gtsam/slam/simulated2DOriented.h>
+#include <tests/simulated2DOriented.h>
 
 namespace simulated2DOriented {
 
diff --git a/gtsam/slam/simulated2DOriented.h b/tests/simulated2DOriented.h
similarity index 100%
rename from gtsam/slam/simulated2DOriented.h
rename to tests/simulated2DOriented.h
diff --git a/gtsam_unstable/slam/simulated3D.cpp b/tests/simulated3D.cpp
similarity index 95%
rename from gtsam_unstable/slam/simulated3D.cpp
rename to tests/simulated3D.cpp
index 933d1f194..980b6cabd 100644
--- a/gtsam_unstable/slam/simulated3D.cpp
+++ b/tests/simulated3D.cpp
@@ -15,7 +15,7 @@
 * @author Alex Cunningham
 **/
 
-#include <gtsam_unstable/slam/simulated3D.h>
+#include <tests/simulated3D.h>
 
 namespace gtsam {
 
diff --git a/gtsam_unstable/slam/simulated3D.h b/tests/simulated3D.h
similarity index 100%
rename from gtsam_unstable/slam/simulated3D.h
rename to tests/simulated3D.h
diff --git a/gtsam/slam/smallExample.cpp b/tests/smallExample.cpp
similarity index 99%
rename from gtsam/slam/smallExample.cpp
rename to tests/smallExample.cpp
index 9937847ae..b518bebe5 100644
--- a/gtsam/slam/smallExample.cpp
+++ b/tests/smallExample.cpp
@@ -17,7 +17,6 @@
  * @author  Frank dellaert
  */
 
-#include <gtsam/slam/smallExample.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/Ordering.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
@@ -25,6 +24,8 @@
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/base/Matrix.h>
 
+#include <tests/smallExample.h>
+
 #include <boost/optional.hpp>
 #include <boost/shared_ptr.hpp>
 
diff --git a/gtsam/slam/smallExample.h b/tests/smallExample.h
similarity index 99%
rename from gtsam/slam/smallExample.h
rename to tests/smallExample.h
index 3b3b200b8..161c45da8 100644
--- a/gtsam/slam/smallExample.h
+++ b/tests/smallExample.h
@@ -21,7 +21,7 @@
 
 #pragma once
 
-#include <gtsam/slam/simulated2D.h>
+#include <tests/simulated2D.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/linear/JacobianFactorGraph.h>
 #include <boost/tuple/tuple.hpp>
diff --git a/tests/testBoundingConstraint.cpp b/tests/testBoundingConstraint.cpp
index 3956b2934..128251a23 100644
--- a/tests/testBoundingConstraint.cpp
+++ b/tests/testBoundingConstraint.cpp
@@ -15,7 +15,7 @@
  * @author Alex Cunningham
  */
 
-#include <gtsam/slam/simulated2DConstraints.h>
+#include <tests/simulated2DConstraints.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp
index 529b1b2f1..9a4f6bf25 100644
--- a/tests/testDoglegOptimizer.cpp
+++ b/tests/testDoglegOptimizer.cpp
@@ -16,7 +16,7 @@
  */
 
 #include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/nonlinear/DoglegOptimizerImpl.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/linear/JacobianFactor.h>
diff --git a/tests/testGaussianBayesNet.cpp b/tests/testGaussianBayesNet.cpp
index 8444dacc3..60af529ec 100644
--- a/tests/testGaussianBayesNet.cpp
+++ b/tests/testGaussianBayesNet.cpp
@@ -29,7 +29,7 @@ using namespace boost::assign;
 #include <gtsam/inference/BayesNet.h>
 #include <gtsam/linear/GaussianBayesNet.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 
 using namespace std;
 using namespace gtsam;
diff --git a/tests/testGaussianFactor.cpp b/tests/testGaussianFactor.cpp
index 077dc44be..bc0040f37 100644
--- a/tests/testGaussianFactor.cpp
+++ b/tests/testGaussianFactor.cpp
@@ -16,7 +16,7 @@
  *  @author Frank Dellaert
  **/
 
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/Ordering.h>
 #include <gtsam/linear/GaussianConditional.h>
diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp
index 0f76af4f6..718dbc302 100644
--- a/tests/testGaussianFactorGraphB.cpp
+++ b/tests/testGaussianFactorGraphB.cpp
@@ -15,7 +15,7 @@
  *  @author Christian Potthast
  **/
 
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/linear/GaussianBayesNet.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp
index 03a747196..a6eccd70f 100644
--- a/tests/testGaussianISAM.cpp
+++ b/tests/testGaussianISAM.cpp
@@ -15,7 +15,7 @@
  * @author  Michael Kaess
  */
 
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/nonlinear/Ordering.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/linear/GaussianBayesNet.h>
diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp
index c74dbe276..c79e4e8fc 100644
--- a/tests/testGaussianISAM2.cpp
+++ b/tests/testGaussianISAM2.cpp
@@ -12,7 +12,7 @@
 #include <gtsam/linear/GaussianBayesTree.h>
 #include <gtsam/linear/JacobianFactorGraph.h>
 #include <gtsam/nonlinear/ISAM2.h>
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/slam/planarSLAM.h>
 
 #include <CppUnitLite/TestHarness.h>
diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp
index 03e2d27d3..5b7555d37 100644
--- a/tests/testGaussianJunctionTreeB.cpp
+++ b/tests/testGaussianJunctionTreeB.cpp
@@ -15,7 +15,7 @@
  * @author nikai
  */
 
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/slam/planarSLAM.h>
 #include <gtsam/slam/pose2SLAM.h>
 #include <gtsam/nonlinear/Ordering.h>
diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp
index c054b9b6a..81b24a1e7 100644
--- a/tests/testInferenceB.cpp
+++ b/tests/testInferenceB.cpp
@@ -20,9 +20,10 @@
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>
-#include <gtsam/slam/smallExample.h>
 #include <gtsam/slam/planarSLAM.h>
 
+#include <tests/smallExample.h>
+
 using namespace std;
 using namespace gtsam;
 
diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp
index 2b35e9f60..9a139e581 100644
--- a/tests/testNonlinearEquality.cpp
+++ b/tests/testNonlinearEquality.cpp
@@ -14,8 +14,9 @@
  * @author Alex Cunningham
  */
 
+#include <tests/simulated2DConstraints.h>
+
 #include <gtsam/slam/PriorFactor.h>
-#include <gtsam/slam/simulated2DConstraints.h>
 #include <gtsam/slam/visualSLAM.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp
index e203bcf94..00fa217c6 100644
--- a/tests/testNonlinearFactor.cpp
+++ b/tests/testNonlinearFactor.cpp
@@ -28,8 +28,8 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/LieVector.h>
-#include <gtsam/slam/smallExample.h>
-#include <gtsam/slam/simulated2D.h>
+#include <tests/smallExample.h>
+#include <tests/simulated2D.h>
 #include <gtsam/linear/GaussianFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Symbol.h>
diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp
index d1d240a67..7d9160c1d 100644
--- a/tests/testNonlinearFactorGraph.cpp
+++ b/tests/testNonlinearFactorGraph.cpp
@@ -29,7 +29,7 @@ using namespace boost::assign;
 
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/Matrix.h>
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Symbol.h>
diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp
index 7cb8bb045..ee681db3e 100644
--- a/tests/testNonlinearOptimizer.cpp
+++ b/tests/testNonlinearOptimizer.cpp
@@ -15,7 +15,7 @@
  * @author  Frank Dellaert
  */
 
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/slam/pose2SLAM.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
diff --git a/gtsam/slam/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp
similarity index 99%
rename from gtsam/slam/tests/testSerializationSLAM.cpp
rename to tests/testSerializationSLAM.cpp
index 275abe1b8..7650925d1 100644
--- a/gtsam/slam/tests/testSerializationSLAM.cpp
+++ b/tests/testSerializationSLAM.cpp
@@ -16,7 +16,8 @@
  * @date Feb 7, 2012
  */
 
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
+
 #include <gtsam/slam/planarSLAM.h>
 #include <gtsam/slam/visualSLAM.h>
 #include <gtsam/nonlinear/Symbol.h>
diff --git a/gtsam/slam/tests/testSimulated2D.cpp b/tests/testSimulated2D.cpp
similarity index 98%
rename from gtsam/slam/tests/testSimulated2D.cpp
rename to tests/testSimulated2D.cpp
index b72a8f4c0..165177a56 100644
--- a/gtsam/slam/tests/testSimulated2D.cpp
+++ b/tests/testSimulated2D.cpp
@@ -21,7 +21,7 @@
 
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
-#include <gtsam/slam/simulated2D.h>
+#include <tests/simulated2D.h>
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam/slam/tests/testSimulated2DOriented.cpp b/tests/testSimulated2DOriented.cpp
similarity index 96%
rename from gtsam/slam/tests/testSimulated2DOriented.cpp
rename to tests/testSimulated2DOriented.cpp
index d017512ce..24fe6ec4e 100644
--- a/gtsam/slam/tests/testSimulated2DOriented.cpp
+++ b/tests/testSimulated2DOriented.cpp
@@ -16,8 +16,8 @@
  * @brief unit tests for simulated2DOriented
  */
 
-#include <gtsam/slam/simulated2D.h>
-#include <gtsam/slam/simulated2DOriented.h>
+#include <tests/simulated2D.h>
+#include <tests/simulated2DOriented.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
diff --git a/gtsam_unstable/slam/tests/testSimulated3D.cpp b/tests/testSimulated3D.cpp
similarity index 97%
rename from gtsam_unstable/slam/tests/testSimulated3D.cpp
rename to tests/testSimulated3D.cpp
index 7283544a1..be9548a8e 100644
--- a/gtsam_unstable/slam/tests/testSimulated3D.cpp
+++ b/tests/testSimulated3D.cpp
@@ -15,7 +15,7 @@
  * @author Alex Cunningham
  **/
 
-#include <gtsam_unstable/slam/simulated3D.h>
+#include <tests/simulated3D.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/base/Testable.h>
diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp
index 747e35914..0f18924da 100644
--- a/tests/testSubgraphPreconditioner.cpp
+++ b/tests/testSubgraphPreconditioner.cpp
@@ -16,7 +16,7 @@
  **/
 
 #include <gtsam_unstable/linear/iterative.h>
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/nonlinear/Ordering.h>
 #include <gtsam/linear/JacobianFactorGraph.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
diff --git a/tests/testSymbolicBayesNetB.cpp b/tests/testSymbolicBayesNetB.cpp
index 4f0d04595..f2e9772ec 100644
--- a/tests/testSymbolicBayesNetB.cpp
+++ b/tests/testSymbolicBayesNetB.cpp
@@ -22,7 +22,7 @@ using namespace boost::assign;
 #include <CppUnitLite/TestHarness.h>
 
 #include <gtsam/base/Testable.h>
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/inference/SymbolicFactorGraph.h>
 #include <gtsam/inference/SymbolicSequentialSolver.h>
 #include <gtsam/nonlinear/Ordering.h>
diff --git a/tests/testSymbolicFactorGraphB.cpp b/tests/testSymbolicFactorGraphB.cpp
index 8fde094ed..7d657c9bf 100644
--- a/tests/testSymbolicFactorGraphB.cpp
+++ b/tests/testSymbolicFactorGraphB.cpp
@@ -15,7 +15,7 @@
  * @author  Frank Dellaert
  */
 
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/nonlinear/Ordering.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/inference/SymbolicFactorGraph.h>
diff --git a/tests/timeGaussianFactorGraph.cpp b/tests/timeGaussianFactorGraph.cpp
index aff3ff150..f8d76c1dd 100644
--- a/tests/timeGaussianFactorGraph.cpp
+++ b/tests/timeGaussianFactorGraph.cpp
@@ -19,7 +19,7 @@
 #include <boost/foreach.hpp>
 #include <boost/assign/std/list.hpp> // for operator += in Ordering
 #include <CppUnitLite/TestHarness.h>
-#include <gtsam/slam/smallExample.h>
+#include <tests/smallExample.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 
 using namespace std;