diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h
index 19f73c8b9..b5e77b578 100644
--- a/gtsam/slam/AntiFactor.h
+++ b/gtsam/slam/AntiFactor.h
@@ -26,6 +26,7 @@ namespace gtsam {
 	 * A class for downdating an existing factor from a graph. The AntiFactor returns the same
 	 * linearized Hessian matrices of the original factor, but with the opposite sign. This effectively
 	 * cancels out any affects of the original factor during optimization."
+	 * @addtogroup SLAM
 	 */
 	class AntiFactor: public NonlinearFactor {
 
diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h
index 326491e8c..86a6e159c 100644
--- a/gtsam/slam/BearingFactor.h
+++ b/gtsam/slam/BearingFactor.h
@@ -24,6 +24,7 @@ namespace gtsam {
 
 	/**
 	 * Binary factor for a bearing measurement
+	 * @addtogroup SLAM
 	 */
 	template<class POSE, class POINT, class ROTATION = typename POSE::Rotation>
 	class BearingFactor: public NoiseModelFactor2<POSE, POINT> {
diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h
index 52f301b3c..d701054f9 100644
--- a/gtsam/slam/BearingRangeFactor.h
+++ b/gtsam/slam/BearingRangeFactor.h
@@ -26,6 +26,7 @@ namespace gtsam {
 
 	/**
 	 * Binary factor for a bearing measurement
+	 * @addtogroup SLAM
 	 */
 	template<class POSE, class POINT, class ROTATION = typename POSE::Rotation>
 	class BearingRangeFactor: public NoiseModelFactor2<POSE, POINT> {
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index d93e5fe81..14314ceb7 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -27,6 +27,7 @@ namespace gtsam {
 	/**
 	 * A class for a measurement predicted by "between(config[key1],config[key2])"
 	 * @tparam VALUE the Value type
+	 * @addtogroup SLAM
 	 */
 	template<class VALUE>
 	class BetweenFactor: public NoiseModelFactor2<VALUE, VALUE> {
diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h
index 0032d9a05..43d3802c0 100644
--- a/gtsam/slam/BoundingConstraint.h
+++ b/gtsam/slam/BoundingConstraint.h
@@ -27,6 +27,7 @@ namespace gtsam {
  * greater/less than a fixed threshold.  The function
  * will need to have its value function implemented to return
  * a scalar for comparison.
+ * @addtogroup SLAM
  */
 template<class VALUE>
 struct BoundingConstraint1: public NoiseModelFactor1<VALUE> {
diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index a9db7dcbe..beb2f1e67 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -29,7 +29,9 @@
 namespace gtsam {
 
 	/**
-	 * Non-linear factor for a constraint derived from a 2D measurement. The calibration is unknown here compared to GenericProjectionFactor
+	 * Non-linear factor for a constraint derived from a 2D measurement.
+	 * The calibration is unknown here compared to GenericProjectionFactor
+	 * @addtogroup SLAM
 	 */
 	template <class CAMERA, class LANDMARK>
 	class GeneralSFMFactor:	public NoiseModelFactor2<CAMERA, LANDMARK> {
diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h
index 79ea4c0ce..5bd0ee76f 100644
--- a/gtsam/slam/PriorFactor.h
+++ b/gtsam/slam/PriorFactor.h
@@ -22,6 +22,7 @@ namespace gtsam {
 
 	/**
 	 * A class for a soft prior on any Value type
+	 * @addtogroup SLAM
 	 */
 	template<class VALUE>
 	class PriorFactor: public NoiseModelFactor1<VALUE> {
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index 048756435..00bb7f36a 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -28,6 +28,7 @@ namespace gtsam {
 	/**
 	 * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
 	 * i.e. the main building block for visual SLAM.
+	 * @addtogroup SLAM
 	 */
 	template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
 	class GenericProjectionFactor: public NoiseModelFactor2<POSE, LANDMARK> {
diff --git a/gtsam/slam/RangeFactor.h b/gtsam/slam/RangeFactor.h
index 78727f08f..fa4ddb7f2 100644
--- a/gtsam/slam/RangeFactor.h
+++ b/gtsam/slam/RangeFactor.h
@@ -24,6 +24,7 @@ namespace gtsam {
 
 	/**
 	 * Binary factor for a range measurement
+	 * @addtogroup SLAM
 	 */
 	template<class POSE, class POINT>
 	class RangeFactor: public NoiseModelFactor2<POSE, POINT> {
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index 94af6e10e..05b37b0ff 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -23,6 +23,10 @@
 
 namespace gtsam {
 
+/*
+ * A Generic Stereo Factor
+ * @addtogroup SLAM
+ */
 template<class POSE, class LANDMARK>
 class GenericStereoFactor: public NoiseModelFactor2<POSE, LANDMARK> {
 private: