diff --git a/gtsam/geometry/Tensor1.h b/gtsam/geometry/Tensor1.h
index 7cd5c4b31..39350e217 100644
--- a/gtsam/geometry/Tensor1.h
+++ b/gtsam/geometry/Tensor1.h
@@ -9,11 +9,11 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * Tensor1.h
+/**
+ * @file Tensor1.h
  * @brief Rank 1 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
- * Created on: Feb 10, 2010
- * @author: Frank Dellaert
+ * @date Feb 10, 2010
+ * @author Frank Dellaert
  */
 
 #pragma once
@@ -21,7 +21,10 @@
 
 namespace tensors {
 
-	/** A rank 1 tensor. Actually stores data. */
+	/**
+	 * A rank 1 tensor. Actually stores data.
+	 * @ingroup tensors
+	 */
 	template<int N>
 	class Tensor1 {
 		double T[N]; ///< Storage
diff --git a/gtsam/geometry/Tensor1Expression.h b/gtsam/geometry/Tensor1Expression.h
index 177234f82..7416ceb40 100644
--- a/gtsam/geometry/Tensor1Expression.h
+++ b/gtsam/geometry/Tensor1Expression.h
@@ -9,11 +9,11 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * Tensor1Expression.h
+/**
+ * @file Tensor1Expression.h
  * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
- * Created on: Feb 10, 2010
- * @author: Frank Dellaert
+ * @date Feb 10, 2010
+ * @author Frank Dellaert
  */
 
 #pragma once
@@ -29,6 +29,7 @@ namespace tensors {
 	 * Templated class to provide a rank 1 tensor interface to a class.
 	 * This class does not store any data but the result of an expression.
 	 * It is associated with an index.
+	 * @ingroup tensors
 	 */
 	template<class A, class I> class Tensor1Expression {
 
diff --git a/gtsam/geometry/Tensor2.h b/gtsam/geometry/Tensor2.h
index 93fcfd397..5974249c4 100644
--- a/gtsam/geometry/Tensor2.h
+++ b/gtsam/geometry/Tensor2.h
@@ -9,11 +9,11 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * Tensor2.h
+/**
+ * @file Tensor2.h
  * @brief Rank 2 Tensor based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
- * Created on: Feb 10, 2010
- * @author: Frank Dellaert
+ * @date Feb 10, 2010
+ * @author Frank Dellaert
  */
 
 #pragma once
@@ -21,7 +21,10 @@
 
 namespace tensors {
 
-/** Rank 2 Tensor */
+/**
+ * Rank 2 Tensor
+ * @ingroup tensors
+ */
 template<int N1, int N2>
 class Tensor2 {
 protected:
diff --git a/gtsam/geometry/Tensor2Expression.h b/gtsam/geometry/Tensor2Expression.h
index 6affdb087..77f8b898a 100644
--- a/gtsam/geometry/Tensor2Expression.h
+++ b/gtsam/geometry/Tensor2Expression.h
@@ -9,11 +9,11 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * Tensor2Expression.h
+/**
+ * @file Tensor2Expression.h
  * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
- * Created on: Feb 10, 2010
- * @author: Frank Dellaert
+ * @date Feb 10, 2010
+ * @author Frank Dellaert
  */
 
 #pragma once
@@ -24,7 +24,10 @@
 
 namespace tensors {
 
-	/** Templated class to hold a rank 2 tensor expression. */
+	/**
+	 * Templated class to hold a rank 2 tensor expression.
+	 * @ingroup tensors
+	 */
 	template<class A, class I, class J> class Tensor2Expression {
 
 	private:
diff --git a/gtsam/geometry/Tensor3.h b/gtsam/geometry/Tensor3.h
index bd3873f40..9be8ec909 100644
--- a/gtsam/geometry/Tensor3.h
+++ b/gtsam/geometry/Tensor3.h
@@ -9,10 +9,10 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * Tensor3.h
+/**
+ * @file Tensor3.h
  * @brief Rank 3 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
- * Created on: Feb 10, 2010
+ * @date Feb 10, 2010
  * @author: Frank Dellaert
  */
 
@@ -21,7 +21,10 @@
 
 namespace tensors {
 
-	/** Rank 3 Tensor */
+	/**
+	 * Rank 3 Tensor
+	 * @ingroup tensors
+	 */
 	template<int N1, int N2, int N3>
 	class Tensor3 {
 		Tensor2<N1, N2> T[N3]; ///< Storage
diff --git a/gtsam/geometry/Tensor3Expression.h b/gtsam/geometry/Tensor3Expression.h
index 68d880ff5..b11ab385d 100644
--- a/gtsam/geometry/Tensor3Expression.h
+++ b/gtsam/geometry/Tensor3Expression.h
@@ -9,11 +9,11 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * Tensor3Expression.h
+/**
+ * @file Tensor3Expression.h
  * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
- * Created on: Feb 10, 2010
- * @author: Frank Dellaert
+ * @date Feb 10, 2010
+ * @author Frank Dellaert
  */
 
 #pragma once
@@ -23,7 +23,10 @@
 
 namespace tensors {
 
-	/** templated class to interface to an object A as a rank 3 tensor */
+	/**
+	 * templated class to interface to an object A as a rank 3 tensor
+	 * @ingroup tensors
+	 */
 	template<class A, class I, class J, class K> class Tensor3Expression {
 		A iter;
 
diff --git a/gtsam/geometry/Tensor4.h b/gtsam/geometry/Tensor4.h
index 59577f1c2..53efb7d33 100644
--- a/gtsam/geometry/Tensor4.h
+++ b/gtsam/geometry/Tensor4.h
@@ -9,11 +9,11 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * Tensor4.h
+/**
+ * @file Tensor4.h
  * @brief Rank 4 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
- * Created on: Feb 12, 2010
- * @author: Frank Dellaert
+ * @date Feb 12, 2010
+ * @author Frank Dellaert
  */
 
 #pragma once
@@ -21,7 +21,10 @@
 
 namespace tensors {
 
-	/** Rank 3 Tensor */
+	/**
+	 * Rank 4 Tensor
+	 * @ingroup tensors
+	 */
 	template<int N1, int N2, int N3, int N4>
 	class Tensor4 {
 
diff --git a/gtsam/geometry/Tensor5.h b/gtsam/geometry/Tensor5.h
index a33abc06d..6a72bb165 100644
--- a/gtsam/geometry/Tensor5.h
+++ b/gtsam/geometry/Tensor5.h
@@ -9,11 +9,11 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * Tensor5.h
+/**
+ * @file Tensor5.h
  * @brief Rank 5 tensors based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
- * Created on: Feb 12, 2010
- * @author: Frank Dellaert
+ * @date Feb 12, 2010
+ * @author Frank Dellaert
  */
 
 #pragma once
@@ -21,7 +21,10 @@
 
 namespace tensors {
 
-	/** Rank 3 Tensor */
+	/**
+	 * Rank 5 Tensor
+	 * @ingroup tensors
+	 */
 	template<int N1, int N2, int N3, int N4, int N5>
 	class Tensor5 {
 
diff --git a/gtsam/geometry/Tensor5Expression.h b/gtsam/geometry/Tensor5Expression.h
index 7471901dd..0431df61d 100644
--- a/gtsam/geometry/Tensor5Expression.h
+++ b/gtsam/geometry/Tensor5Expression.h
@@ -9,11 +9,11 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * Tensor5Expression.h
+/**
+ * @file Tensor5Expression.h
  * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
- * Created on: Feb 10, 2010
- * @author: Frank Dellaert
+ * @date Feb 10, 2010
+ * @author Frank Dellaert
  */
 
 #pragma once
@@ -23,7 +23,10 @@
 
 namespace tensors {
 
-	/** templated class to interface to an object A as a rank 3 tensor */
+	/**
+	 * templated class to interface to an object A as a rank 5 tensor
+	 * @ingroup tensors
+	 */
 	template<class A, class I, class J, class K, class L, class M> class Tensor5Expression {
 		A iter;
 
diff --git a/gtsam/geometry/projectiveGeometry.cpp b/gtsam/geometry/projectiveGeometry.cpp
index 6c101da5f..31c975c43 100644
--- a/gtsam/geometry/projectiveGeometry.cpp
+++ b/gtsam/geometry/projectiveGeometry.cpp
@@ -9,10 +9,10 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * projectiveGeometry.cpp
+/**
+ * @file projectiveGeometry.cpp
  * @brief Projective geometry, implemented using tensor library
- * Created on: Feb 12, 2010
+ * @date Feb 12, 2010
  * @author: Frank Dellaert
  */
 
diff --git a/gtsam/geometry/projectiveGeometry.h b/gtsam/geometry/projectiveGeometry.h
index 5aa0fe791..24536cafe 100644
--- a/gtsam/geometry/projectiveGeometry.h
+++ b/gtsam/geometry/projectiveGeometry.h
@@ -9,11 +9,11 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * projectiveGeometry.h
+/**
+ * @file projectiveGeometry.h
  * @brief Projective geometry, implemented using tensor library
- * Created on: Feb 12, 2010
- * @author: Frank Dellaert
+ * @date Feb 12, 2010
+ * @author Frank Dellaert
  */
 
 #pragma once
@@ -23,15 +23,24 @@
 
 namespace gtsam {
 
-	/** 2D Point */
+	/**
+	 * 2D Point
+	 * @ingroup tensors
+	 */
 	typedef tensors::Tensor1<3> Point2h;
 	Point2h point2h(double x, double y, double w);
 
-	/** 2D Line */
+	/**
+	 * 2D Line
+	 * @ingroup tensors
+	 */
 	typedef tensors::Tensor1<3> Line2h;
 	Line2h line2h(double a, double b, double c);
 
-	/** 2D Point corrrespondence */
+	/**
+	 * 2D Point corrrespondence
+	 * @ingroup tensors
+	 */
 	struct Correspondence {
 		Point2h first, second;
 		Correspondence(const Point2h &p1, const Point2h &p2) :
@@ -47,13 +56,22 @@ namespace gtsam {
 		}
 	};
 
-	/** 2D-2D Homography */
+	/**
+	 * 2D-2D Homography
+	 * @ingroup tensors
+	 */
 	typedef tensors::Tensor2<3, 3> Homography2;
 
-	/** Fundamental Matrix */
+	/**
+	 * Fundamental Matrix
+	 * @ingroup tensors
+	 */
 	typedef tensors::Tensor2<3, 3> FundamentalMatrix;
 
-	/** Triplet of points */
+	/**
+	 * Triplet of points
+	 * @ingroup tensors
+	 */
 	struct Triplet {
 		Point2h first, second, third;
 		Triplet(const Point2h &p1, const Point2h &p2, const Point2h &p3) :
@@ -67,18 +85,30 @@ namespace gtsam {
 		}
 	};
 
-	/** Trifocal Tensor */
+	/**
+	 * Trifocal Tensor
+	 * @ingroup tensors
+	 */
 	typedef tensors::Tensor3<3, 3, 3> TrifocalTensor;
 
-	/** 3D Point */
+	/**
+	 * 3D Point
+	 * @ingroup tensors
+	 */
 	typedef tensors::Tensor1<4> Point3h;
 	Point3h point3h(double X, double Y, double Z, double W);
 
-	/** 3D Plane */
+	/**
+	 * 3D Plane
+	 * @ingroup tensors
+	 */
 	typedef tensors::Tensor1<4> Plane3h;
 	Plane3h plane3h(double a, double b, double c, double d);
 
-	/** 3D to 2D projective camera */
+	/**
+	 * 3D to 2D projective camera
+	 * @ingroup tensors
+	 */
 	typedef tensors::Tensor2<3, 4> ProjectiveCamera;
 
 } // namespace gtsam
diff --git a/gtsam/geometry/tensorInterface.h b/gtsam/geometry/tensorInterface.h
index dbea2472e..61212e2c9 100644
--- a/gtsam/geometry/tensorInterface.h
+++ b/gtsam/geometry/tensorInterface.h
@@ -9,11 +9,11 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * tensorInterface.h
+/**
+ * @file tensorInterface.h
  * @brief Interfacing tensors template library and gtsam
- * Created on: Feb 12, 2010
- * @author: Frank Dellaert
+ * @date Feb 12, 2010
+ * @author Frank Dellaert
  */
 
 #pragma once
diff --git a/gtsam/geometry/tensors.h b/gtsam/geometry/tensors.h
index 3d9363f20..1441a7823 100644
--- a/gtsam/geometry/tensors.h
+++ b/gtsam/geometry/tensors.h
@@ -9,11 +9,12 @@
 
  * -------------------------------------------------------------------------- */
 
-/*
- * tensors.h
+/**
+ * @file tensors.h
  * @brief Tensor expression templates based on http://www.gps.caltech.edu/~walter/FTensor/FTensor.pdf
- * Created on: Feb 10, 2010
- * @author: Frank Dellaert
+ * @date Feb 10, 2010
+ * @author Frank Dellaert
+ * @defgroup tensors
  */
 
 #pragma once