diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 6899c616a..fabcc4c02 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -174,7 +174,7 @@ Point3 triangulateNonlinear(
  * @param poses A vector of camera poses
  * @param sharedCal shared pointer to single calibration object
  * @param measurements A vector of camera measurements
- * @param rank tolerance, default 1e-9
+ * @param rank_tol rank tolerance, default 1e-9
  * @param optimize Flag to turn on nonlinear refinement of triangulation
  * @return Returns a Point3
  */
@@ -222,7 +222,7 @@ Point3 triangulatePoint3(const std::vector<Pose3>& poses,
  * no other checks to verify the quality of the triangulation.
  * @param cameras pinhole cameras
  * @param measurements A vector of camera measurements
- * @param rank tolerance, default 1e-9
+ * @param rank_tol rank tolerance, default 1e-9
  * @param optimize Flag to turn on nonlinear refinement of triangulation
  * @return Returns a Point3
  */
diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h
index a36de0dc2..9cce29d60 100644
--- a/gtsam/linear/GaussianConditional.h
+++ b/gtsam/linear/GaussianConditional.h
@@ -111,7 +111,7 @@ namespace gtsam {
     * assumed to have already been solved in and their values are read from \c x.
     * This function works for multiple frontal variables.
     *
-    * Given the Gaussian conditional with log likelihood \f$ |R x_f - (d - S x_s)|^2,
+    * Given the Gaussian conditional with log likelihood \f$ |R x_f - (d - S x_s)|^2 \f$,
     * where \f$ f \f$ are the frontal variables and \f$ s \f$ are the separator
     * variables of this conditional, this solve function computes
     * \f$ x_f = R^{-1} (d - S x_s) \f$ using back-substitution.
diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
index 9e6f3f8ba..a910b3e35 100644
--- a/gtsam/slam/EssentialMatrixFactor.h
+++ b/gtsam/slam/EssentialMatrixFactor.h
@@ -29,6 +29,7 @@ public:
 
   /**
    *  Constructor
+   *  @param key Essential Matrix variable key
    *  @param pA point in first camera, in calibrated coordinates
    *  @param pB point in second camera, in calibrated coordinates
    *  @param model noise model is about dot product in ideal, homogeneous coordinates
@@ -42,6 +43,7 @@ public:
 
   /**
    *  Constructor
+   *  @param key Essential Matrix variable key
    *  @param pA point in first camera, in pixel coordinates
    *  @param pB point in second camera, in pixel coordinates
    *  @param model noise model is about dot product in ideal, homogeneous coordinates
@@ -99,6 +101,8 @@ public:
 
   /**
    *  Constructor
+   *  @param key1 Essential Matrix variable key
+   *  @param key2 Inverse depth variable key
    *  @param pA point in first camera, in calibrated coordinates
    *  @param pB point in second camera, in calibrated coordinates
    *  @param model noise model should be in pixels, as well
@@ -113,6 +117,8 @@ public:
 
   /**
    *  Constructor
+   *  @param key1 Essential Matrix variable key
+   *  @param key2 Inverse depth variable key
    *  @param pA point in first camera, in pixel coordinates
    *  @param pB point in second camera, in pixel coordinates
    *  @param K calibration object, will be used only in constructor
@@ -216,6 +222,8 @@ public:
 
   /**
    *  Constructor
+   *  @param key1 Essential Matrix variable key
+   *  @param key2 Inverse depth variable key
    *  @param pA point in first camera, in calibrated coordinates
    *  @param pB point in second camera, in calibrated coordinates
    *  @param bRc extra rotation between "body" and "camera" frame
@@ -228,6 +236,8 @@ public:
 
   /**
    *  Constructor
+   *  @param key1 Essential Matrix variable key
+   *  @param key2 Inverse depth variable key
    *  @param pA point in first camera, in pixel coordinates
    *  @param pB point in second camera, in pixel coordinates
    *  @param K calibration object, will be used only in constructor