diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
index 4276fe9b1..97dac111d 100644
--- a/gtsam/geometry/BearingRange.h
+++ b/gtsam/geometry/BearingRange.h
@@ -93,4 +93,28 @@ struct traits<BearingRange<A1, A2> >
     : Testable<BearingRange<A1, A2> >,
       internal::ManifoldTraits<BearingRange<A1, A2> > {};
 
+// Helper class for to implement Range traits for classes with a bearing method
+template <class A1, typename A2, class T = double>
+struct HasBearing {
+  typedef T result_type;
+  T operator()(
+      const A1& a1, const A2& a2,
+      OptionalJacobian<traits<T>::dimension, traits<A1>::dimension> H1,
+      OptionalJacobian<traits<T>::dimension, traits<A2>::dimension> H2) {
+    return a1.bearing(a2, H1, H2);
+  }
+};
+
+// Helper class for to implement Range traits for classes with a range method
+template <class A1, typename A2, class T = double>
+struct HasRange {
+  typedef T result_type;
+  T operator()(
+      const A1& a1, const A2& a2,
+      OptionalJacobian<traits<T>::dimension, traits<A1>::dimension> H1,
+      OptionalJacobian<traits<T>::dimension, traits<A2>::dimension> H2) {
+    return a1.range(a2, H1, H2);
+  }
+};
+
 }  // namespace gtsam
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index c289f8fb6..741f7a1e4 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <gtsam/geometry/BearingRange.h>
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/base/concepts.h>
 #include <gtsam/base/Manifold.h>
@@ -384,47 +385,22 @@ private:
   /// @}
 };
 
-template<>
-struct traits<CalibratedCamera> : public internal::Manifold<CalibratedCamera> {
-};
-
-template<>
-struct traits<const CalibratedCamera> : public internal::Manifold<
-    CalibratedCamera> {
-};
-
-// Define Range functor specializations that are used in RangeFactor
-template <typename A1, typename A2> struct Range;
+// manifold traits
+template <>
+struct traits<CalibratedCamera> : public internal::Manifold<CalibratedCamera> {};
 
 template <>
-struct Range<CalibratedCamera, Point3> {
-  typedef double result_type;
-  double operator()(const CalibratedCamera& camera, const Point3& point,
-                    OptionalJacobian<1, 6> H1 = boost::none,
-                    OptionalJacobian<1, 3> H2 = boost::none) {
-    return camera.range(point, H1, H2);
-  }
-};
+struct traits<const CalibratedCamera> : public internal::Manifold<CalibratedCamera> {};
+
+// range traits, used in RangeFactor
+template <>
+struct Range<CalibratedCamera, Point3> : HasRange<CalibratedCamera, Point3> {};
 
 template <>
-struct Range<CalibratedCamera, Pose3> {
-  typedef double result_type;
-  double operator()(const CalibratedCamera& camera, const Pose3& pose,
-                    OptionalJacobian<1, 6> H1 = boost::none,
-                    OptionalJacobian<1, 6> H2 = boost::none) {
-    return camera.range(pose, H1, H2);
-  }
-};
+struct Range<CalibratedCamera, Pose3> : HasRange<CalibratedCamera, Pose3> {};
 
 template <>
-struct Range<CalibratedCamera, CalibratedCamera> {
-  typedef double result_type;
-  double operator()(const CalibratedCamera& camera1,
-                    const CalibratedCamera& camera2,
-                    OptionalJacobian<1, 6> H1 = boost::none,
-                    OptionalJacobian<1, 6> H2 = boost::none) {
-    return camera1.range(camera2, H1, H2);
-  }
-};
-}
+struct Range<CalibratedCamera, CalibratedCamera> : HasRange<CalibratedCamera, CalibratedCamera> {};
+
+}  // namespace gtsam
 
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 93c017290..31052bfa6 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -19,6 +19,7 @@
 #pragma once
 
 #include <gtsam/geometry/PinholePose.h>
+#include <gtsam/geometry/BearingRange.h>
 
 namespace gtsam {
 
@@ -302,62 +303,31 @@ private:
 
 };
 
-template<typename Calibration>
-struct traits<PinholeCamera<Calibration> > : public internal::Manifold<
-    PinholeCamera<Calibration> > {
-};
-
-template<typename Calibration>
-struct traits<const PinholeCamera<Calibration> > : public internal::Manifold<
-    PinholeCamera<Calibration> > {
-};
-
-// Define Range functor specializations that are used in RangeFactor
-template <typename A1, typename A2> struct Range;
+// manifold traits
 
 template <typename Calibration>
-struct Range<PinholeCamera<Calibration>, Point3> {
-  typedef double result_type;
-  typedef PinholeCamera<Calibration> Camera;
-  double operator()(const Camera& camera, const Point3& point,
-                    OptionalJacobian<1, Camera::dimension> H1 = boost::none,
-                    OptionalJacobian<1, 3> H2 = boost::none) {
-    return camera.range(point, H1, H2);
-  }
-};
+struct traits<PinholeCamera<Calibration> >
+    : public internal::Manifold<PinholeCamera<Calibration> > {};
 
 template <typename Calibration>
-struct Range<PinholeCamera<Calibration>, Pose3> {
-  typedef double result_type;
-  typedef PinholeCamera<Calibration> Camera;
-  double operator()(const Camera& camera, const Pose3& pose,
-                    OptionalJacobian<1, Camera::dimension> H1 = boost::none,
-                    OptionalJacobian<1, 6> H2 = boost::none) {
-    return camera.range(pose, H1, H2);
-  }
-};
+struct traits<const PinholeCamera<Calibration> >
+    : public internal::Manifold<PinholeCamera<Calibration> > {};
+
+// range traits, used in RangeFactor
+template <typename Calibration>
+struct Range<PinholeCamera<Calibration>, Point3>
+    : HasRange<PinholeCamera<Calibration>, Point3> {};
+
+template <typename Calibration>
+struct Range<PinholeCamera<Calibration>, Pose3>
+    : HasRange<PinholeCamera<Calibration>, Pose3> {};
 
 template <typename CalibrationA, typename CalibrationB>
-struct Range<PinholeCamera<CalibrationA>, PinholeCamera<CalibrationB> > {
-  typedef double result_type;
-  typedef PinholeCamera<CalibrationA> CameraA;
-  typedef PinholeCamera<CalibrationB> CameraB;
-  double operator()(const CameraA& camera1, const CameraB& camera2,
-                    OptionalJacobian<1, CameraA::dimension> H1 = boost::none,
-                    OptionalJacobian<1, CameraB::dimension> H2 = boost::none) {
-    return camera1.range(camera2, H1, H2);
-  }
-};
+struct Range<PinholeCamera<CalibrationA>, PinholeCamera<CalibrationB> >
+    : HasRange<PinholeCamera<CalibrationA>, PinholeCamera<CalibrationB> > {};
 
 template <typename Calibration>
-struct Range<PinholeCamera<Calibration>, CalibratedCamera> {
-  typedef double result_type;
-  typedef PinholeCamera<Calibration> Camera;
-  double operator()(const Camera& camera, const CalibratedCamera& cc,
-                    OptionalJacobian<1, Camera::dimension> H1 = boost::none,
-                    OptionalJacobian<1, 6> H2 = boost::none) {
-    return camera.range(cc, H1, H2);
-  }
-};
+struct Range<PinholeCamera<Calibration>, CalibratedCamera>
+    : HasRange<PinholeCamera<Calibration>, CalibratedCamera> {};
 
 }  // \ gtsam
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index ab488c65f..0358bcf42 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -20,6 +20,7 @@
 
 #pragma once
 
+#include <gtsam/geometry/BearingRange.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Rot2.h>
 #include <gtsam/base/Lie.h>
@@ -290,57 +291,24 @@ inline Matrix wedge<Pose2>(const Vector& xi) {
 typedef std::pair<Point2,Point2> Point2Pair;
 GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs);
 
-template<>
+template <>
 struct traits<Pose2> : public internal::LieGroup<Pose2> {};
 
-template<>
+template <>
 struct traits<const Pose2> : public internal::LieGroup<Pose2> {};
 
-// Define Bearing functor specializations that are used in BearingFactor
-template <typename A1, typename A2> struct Bearing;
+// bearing and range traits, used in RangeFactor
+template <>
+struct Bearing<Pose2, Point2> : HasBearing<Pose2, Point2, Rot2> {};
 
 template <>
-struct Bearing<Pose2, Point2> {
-  typedef Rot2 result_type;
-  Rot2 operator()(const Pose2& pose, const Point2& point,
-                  OptionalJacobian<1, 3> H1 = boost::none,
-                  OptionalJacobian<1, 2> H2 = boost::none) {
-    return pose.bearing(point, H1, H2);
-  }
-};
+struct Bearing<Pose2, Pose2> : HasBearing<Pose2, Pose2, Rot2> {};
 
 template <>
-struct Bearing<Pose2, Pose2> {
-  typedef Rot2 result_type;
-  Rot2 operator()(const Pose2& pose1, const Pose2& pose2,
-                  OptionalJacobian<1, 3> H1 = boost::none,
-                  OptionalJacobian<1, 3> H2 = boost::none) {
-    return pose1.bearing(pose2, H1, H2);
-  }
-};
-
-// Define Range functor specializations that are used in RangeFactor
-template <typename A1, typename A2> struct Range;
+struct Range<Pose2, Point2> : HasRange<Pose2, Point2> {};
 
 template <>
-struct Range<Pose2, Point2> {
-  typedef double result_type;
-  double operator()(const Pose2& pose, const Point2& point,
-                    OptionalJacobian<1, 3> H1 = boost::none,
-                    OptionalJacobian<1, 2> H2 = boost::none) {
-    return pose.range(point, H1, H2);
-  }
-};
-
-template <>
-struct Range<Pose2, Pose2> {
-  typedef double result_type;
-  double operator()(const Pose2& pose1, const Pose2& pose2,
-                    OptionalJacobian<1, 3> H1 = boost::none,
-                    OptionalJacobian<1, 3> H2 = boost::none) {
-    return pose1.range(pose2, H1, H2);
-  }
-};
+struct Range<Pose2, Pose2> : HasRange<Pose2, Pose2> {};
 
 } // namespace gtsam
 
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index afe953d1d..732a511c2 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -19,6 +19,7 @@
 
 #include <gtsam/config.h>
 
+#include <gtsam/geometry/BearingRange.h>
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Rot3.h>
 #include <gtsam/base/Lie.h>
@@ -337,40 +338,14 @@ struct traits<Pose3> : public internal::LieGroup<Pose3> {};
 template <>
 struct traits<const Pose3> : public internal::LieGroup<Pose3> {};
 
-// Define Bearing functor specializations that are used in BearingFactor
-template <typename A1, typename A2> struct Bearing;
+// bearing and range traits, used in RangeFactor
+template <>
+struct Bearing<Pose3, Point3> : HasBearing<Pose3, Point3, Unit3> {};
 
 template <>
-struct Bearing<Pose3, Point3> {
-  typedef Unit3 result_type;
-  Unit3 operator()(const Pose3& pose, const Point3& point,
-                   OptionalJacobian<2, 6> H1 = boost::none,
-                   OptionalJacobian<2, 3> H2 = boost::none) {
-    return pose.bearing(point, H1, H2);
-  }
-};
-
-// Define Range functor specializations that are used in RangeFactor
-template <typename A1, typename A2> struct Range;
+struct Range<Pose3, Point3> : HasRange<Pose3, Point3> {};
 
 template <>
-struct Range<Pose3, Point3> {
-  typedef double result_type;
-  double operator()(const Pose3& pose, const Point3& point,
-                    OptionalJacobian<1, 6> H1 = boost::none,
-                    OptionalJacobian<1, 3> H2 = boost::none) {
-    return pose.range(point, H1, H2);
-  }
-};
-
-template <>
-struct Range<Pose3, Pose3> {
-  typedef double result_type;
-  double operator()(const Pose3& pose1, const Pose3& pose2,
-                    OptionalJacobian<1, 6> H1 = boost::none,
-                    OptionalJacobian<1, 6> H2 = boost::none) {
-    return pose1.range(pose2, H1, H2);
-  }
-};
+struct Range<Pose3, Pose3> : HasRange<Pose3, Pose3> {};
 
 }  // namespace gtsam
diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h
index 09b128d91..5d8d09ab8 100644
--- a/gtsam/geometry/SimpleCamera.h
+++ b/gtsam/geometry/SimpleCamera.h
@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <gtsam/geometry/BearingRange.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Cal3_S2.h>
 
@@ -125,34 +126,28 @@ public:
 
 };
 
-template<>
-struct traits<SimpleCamera> : public internal::Manifold<SimpleCamera> {
-};
-
-template<>
-struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> {
-};
-
-template <>
-struct Range<SimpleCamera, Point3> {
-  typedef double result_type;
-  double operator()(const SimpleCamera& camera, const Point3& point,
-                    OptionalJacobian<1, 11> H1 = boost::none,
-                    OptionalJacobian<1, 3> H2 = boost::none) {
-    return camera.range(point, H1, H2);
-  }
-};
-
-template <>
-struct Range<SimpleCamera, SimpleCamera> {
-  typedef double result_type;
-  double operator()(const SimpleCamera& camera, const SimpleCamera& sc,
-                    OptionalJacobian<1, 11> H1 = boost::none,
-                    OptionalJacobian<1, 11> H2 = boost::none) {
-    return camera.range(sc, H1, H2);
-  }
-};
-
 /// Recover camera from 3*4 camera matrix
 GTSAM_EXPORT SimpleCamera simpleCamera(const Matrix34& P);
-}
+
+// manifold traits
+template <>
+struct traits<SimpleCamera> : public internal::Manifold<SimpleCamera> {};
+
+template <>
+struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> {};
+
+// range traits, used in RangeFactor
+template <>
+struct Range<SimpleCamera, Point3> : HasRange<SimpleCamera, Point3> {};
+
+template <>
+struct Range<SimpleCamera, Pose3> : HasRange<SimpleCamera, Pose3> {};
+
+template <>
+struct Range<SimpleCamera, SimpleCamera> : HasRange<SimpleCamera, SimpleCamera> {};
+
+template <typename Calibration>
+struct Range<SimpleCamera, PinholeCamera<Calibration> >
+    : HasRange<SimpleCamera, PinholeCamera<Calibration> > {};
+
+}  // namespace gtsam
diff --git a/gtsam/sam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp
index 5e56d518a..4575f4bd1 100644
--- a/gtsam/sam/tests/testRangeFactor.cpp
+++ b/gtsam/sam/tests/testRangeFactor.cpp
@@ -357,6 +357,7 @@ struct Range<Vector3, Vector3> {
   double operator()(const Vector3& v1, const Vector3& v2,
                     OptionalJacobian<1, 3> H1, OptionalJacobian<1, 3> H2) {
     return (v2 - v1).norm();
+    // derivatives not implemented
   }
 };
 }