diff --git a/matlab/gtsam_examples/CameraFlyingExample.m b/matlab/gtsam_examples/CameraFlyingExample.m
new file mode 100644
index 000000000..018ffbb4a
--- /dev/null
+++ b/matlab/gtsam_examples/CameraFlyingExample.m
@@ -0,0 +1,28 @@
+clear all;
+clc;
+import gtsam.*
+
+cylinder_num = 10;
+cylinders = cell(cylinder_num, 1);
+
+% generate a set of cylinders
+for i = 1:cylinder_num
+    cylinder_center = Point2([10, 5 * i]');
+    cylinders{i,1} = cylinderSampling(cylinder_center, 1, 5, 30);
+end
+
+% visibility validation
+%camera_transform = Pose3(Rot3.RzRyRx(-pi/2, 0, -pi/2),y_shift);
+
+K = Cal3_S2(525,525,0,320,240);
+cam_pose = Pose3();
+cam = SimpleCamera(cam_pose, K);
+
+% the projections of all visible 3D points
+visiblePoints3 = cylinderSampleProjection(cam, cam_pose, cylinders);
+
+% 
+
+% 
+
+
diff --git a/matlab/gtsam_examples/cylinderSampleProjection.m b/matlab/gtsam_examples/cylinderSampleProjection.m
new file mode 100644
index 000000000..30b7d97c1
--- /dev/null
+++ b/matlab/gtsam_examples/cylinderSampleProjection.m
@@ -0,0 +1,18 @@
+function [] = cylinderSampleProjection(Cam, Pose3, cylinders)
+    
+    cylinder_num = size(cylinders, 1);
+    for i = 1:cylinder_num
+        cylinder = cylinders{i};
+        
+        point_num = size(cylinder.Points, 1);
+        % to be finished
+        
+        %         for j = 1:point_num
+%             
+%             cylinderPoints = 
+%             
+%         end
+        
+    end
+    
+end
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diff --git a/matlab/gtsam_examples/cylinderSampling.m b/matlab/gtsam_examples/cylinderSampling.m
new file mode 100644
index 000000000..3e6a6d9a8
--- /dev/null
+++ b/matlab/gtsam_examples/cylinderSampling.m
@@ -0,0 +1,22 @@
+function [cylinder] = cylinderSampling(Point2, radius, height, density)
+%
+    import gtsam.*
+    % calculate the cylinder area
+    A = 2 * pi * radius * height;
+    
+    PointsNum = round(A * density);
+    
+    Points3 = cell(PointsNum, 1);
+    
+    % sample the points
+    for i = 1:PointsNum
+        theta = 2 * pi * rand;
+        x = radius * cos(theta) + Point2.x;
+        y = radius * sin(theta) + Point2.y;
+        z = height * rand;
+        Points3{i,1} = Point3([x,y,z]');
+    end
+   
+    cylinder.area = A;
+    cylinder.Points = Points3;
+end
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