diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp
index 682ca1743..dca24dba5 100644
--- a/examples/VisualISAMExample.cpp
+++ b/examples/VisualISAMExample.cpp
@@ -72,8 +72,8 @@ int main(int argc, char* argv[]) {
   	initials.insert(X(1), pose0Init*odoMeasurement);
 
   	// Initial values for the landmarks, simulated with Gaussian noise
-  	for (size_t j=0; j<data.landmarks.size(); ++j)
-  		initials.insert(L(j), data.landmarks[j] + Point3(data.noiseL->sample()));
+  	for (size_t j=0; j<data.points.size(); ++j)
+  		initials.insert(L(j), data.points[j] + Point3(data.noiseL->sample()));
 
   	// Update ISAM the first time and obtain the current estimate
   	isam.update(newFactors, initials);
diff --git a/examples/VisualSLAMData.h b/examples/VisualSLAMData.h
index 1aa79324e..155a137d8 100644
--- a/examples/VisualSLAMData.h
+++ b/examples/VisualSLAMData.h
@@ -40,7 +40,7 @@ struct VisualSLAMExampleData {
 	gtsam::shared_ptrK sK;								// camera calibration parameters
 	std::vector<gtsam::Pose3> poses;          // ground-truth camera poses
 	gtsam::Pose3 odometry;								// ground-truth odometry between 2 consecutive poses (simulated data for iSAM)
-	std::vector<gtsam::Point3> landmarks;     // ground-truth landmarks
+	std::vector<gtsam::Point3> points;     // ground-truth landmarks
 	std::map<int, vector<gtsam::Point2> > z;	// 2D measurements of landmarks in each camera frame
 	gtsam::SharedDiagonal noiseZ; 			// measurement noise (noiseModel::Isotropic::Sigma(2, 5.0f));
 	gtsam::SharedDiagonal noiseX; 			// noise for camera poses
@@ -49,14 +49,14 @@ struct VisualSLAMExampleData {
 	static const VisualSLAMExampleData generate() {
 		VisualSLAMExampleData data;
 		// Landmarks (ground truth)
-		data.landmarks.push_back(gtsam::Point3(10.0,10.0,10.0));
-		data.landmarks.push_back(gtsam::Point3(-10.0,10.0,10.0));
-		data.landmarks.push_back(gtsam::Point3(-10.0,-10.0,10.0));
-		data.landmarks.push_back(gtsam::Point3(10.0,-10.0,10.0));
-		data.landmarks.push_back(gtsam::Point3(10.0,10.0,-10.0));
-		data.landmarks.push_back(gtsam::Point3(-10.0,10.0,-10.0));
-		data.landmarks.push_back(gtsam::Point3(-10.0,-10.0,-10.0));
-		data.landmarks.push_back(gtsam::Point3(10.0,-10.0,-10.0));
+		data.points.push_back(gtsam::Point3(10.0,10.0,10.0));
+		data.points.push_back(gtsam::Point3(-10.0,10.0,10.0));
+		data.points.push_back(gtsam::Point3(-10.0,-10.0,10.0));
+		data.points.push_back(gtsam::Point3(10.0,-10.0,10.0));
+		data.points.push_back(gtsam::Point3(10.0,10.0,-10.0));
+		data.points.push_back(gtsam::Point3(-10.0,10.0,-10.0));
+		data.points.push_back(gtsam::Point3(-10.0,-10.0,-10.0));
+		data.points.push_back(gtsam::Point3(10.0,-10.0,-10.0));
 
 		// Camera calibration parameters
 		data.sK = gtsam::shared_ptrK(new gtsam::Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0));
@@ -65,8 +65,7 @@ struct VisualSLAMExampleData {
 		int n = 8;
 		double theta = 0.0;
 		double r = 30.0;
-		for (int i=0; i<n; ++i) {
-			theta += 2*M_PI/n;
+		for (int i=0; i<n; ++i, theta += 2*M_PI/n) {
 			data.poses.push_back(gtsam::Pose3(
 					gtsam::Rot3(-sin(theta), 0.0, -cos(theta),
 											cos(theta), 0.0, -sin(theta),
@@ -78,12 +77,12 @@ struct VisualSLAMExampleData {
 		// Simulated measurements with Gaussian noise
 		data.noiseZ = gtsam::sharedSigma(2, 1.0);
 		for (size_t i=0; i<data.poses.size(); ++i) {
-			for (size_t j=0; j<data.landmarks.size(); ++j) {
+			for (size_t j=0; j<data.points.size(); ++j) {
 				gtsam::SimpleCamera camera(data.poses[i], *data.sK);
-				data.z[i].push_back(camera.project(data.landmarks[j]) + gtsam::Point2(data.noiseZ->sample()));
+				data.z[i].push_back(camera.project(data.points[j]) + gtsam::Point2(data.noiseZ->sample()));
 			}
 		}
-		data.noiseX = gtsam::sharedSigmas(gtsam::Vector_(6, 0.01, 0.01, 0.01, 0.1, 0.1, 0.1));
+		data.noiseX = gtsam::sharedSigmas(gtsam::Vector_(6, 0.001, 0.001, 0.001, 0.1, 0.1, 0.1));
 		data.noiseL = gtsam::sharedSigma(3, 0.1);
 
 		return data;
diff --git a/examples/VisualSLAMExample.cpp b/examples/VisualSLAMExample.cpp
index 0dcd970e4..90391bf90 100644
--- a/examples/VisualSLAMExample.cpp
+++ b/examples/VisualSLAMExample.cpp
@@ -39,18 +39,19 @@ int main(int argc, char* argv[]) {
   /* 2. Add factors to the graph */
   // 2a. Measurement factors
   for (size_t i=0; i<data.poses.size(); ++i) {
-  	for (size_t j=0; j<data.landmarks.size(); ++j)
+  	for (size_t j=0; j<data.points.size(); ++j)
   		graph.addMeasurement(data.z[i][j], data.noiseZ, X(i), L(j), data.sK);
   }
-  // 2b. Prior factor for the first pose to resolve ambiguity (not needed for LevenbergMarquardtOptimizer)
+  // 2b. Prior factor for the first pose and point to constraint the system
   graph.addPosePrior(X(0), data.poses[0], data.noiseX);
+  graph.addPointPrior(L(0), data.points[0], data.noiseL);
 
   /* 3. Initial estimates for variable nodes, simulated by Gaussian noises */
   Values initial;
   for (size_t i=0; i<data.poses.size(); ++i)
   	initial.insert(X(i), data.poses[i]*Pose3::Expmap(data.noiseX->sample()));
-  for (size_t j=0; j<data.landmarks.size(); ++j)
-  	initial.insert(L(j), data.landmarks[j] + Point3(data.noiseL->sample()));
+  for (size_t j=0; j<data.points.size(); ++j)
+  	initial.insert(L(j), data.points[j] + Point3(data.noiseL->sample()));
   initial.print("Intial Estimates: ");
 
   /* 4. Optimize the graph and print results */