diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index eac1e5702..d1b27d338 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -202,11 +202,11 @@ public:
       boost::optional<Matrix&> H6 = boost::none) const;
 
   /// predicted states from IMU
-  static PoseVelocityBias Predict(const Pose3& pose_i, const Vector3& vel_i,
+  static PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i,
       const imuBias::ConstantBias& bias_i,
       const PreintegrationBase& preintegratedMeasurements,
       const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false){
-    return ImuFactorBase::Predict(pose_i, vel_i, bias_i, preintegratedMeasurements, gravity, omegaCoriolis, use2ndOrderCoriolis);
+    return ImuFactorBase::predict(pose_i, vel_i, bias_i, preintegratedMeasurements, gravity, omegaCoriolis, use2ndOrderCoriolis);
   }
 
 private:
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index ff632eb8b..98cc5e642 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -192,10 +192,10 @@ public:
       boost::optional<Matrix&> H5 = boost::none) const;
 
   /// predicted states from IMU
-  static PoseVelocityBias Predict(const Pose3& pose_i, const Vector3& vel_i,
+  static PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i,
       const imuBias::ConstantBias& bias_i, const PreintegrationBase& preintegratedMeasurements,
       const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false){
-    return ImuFactorBase::Predict(pose_i, vel_i, bias_i, preintegratedMeasurements, gravity, omegaCoriolis, use2ndOrderCoriolis);
+    return ImuFactorBase::predict(pose_i, vel_i, bias_i, preintegratedMeasurements, gravity, omegaCoriolis, use2ndOrderCoriolis);
   }
 
   private:
diff --git a/gtsam/navigation/ImuFactorBase.h b/gtsam/navigation/ImuFactorBase.h
index c47f5f62b..a3a89d31c 100644
--- a/gtsam/navigation/ImuFactorBase.h
+++ b/gtsam/navigation/ImuFactorBase.h
@@ -85,7 +85,7 @@ public:
 
   /// Predict state at time j
   //------------------------------------------------------------------------------
-  static PoseVelocityBias Predict(const Pose3& pose_i, const Vector3& vel_i,
+  static PoseVelocityBias predict(const Pose3& pose_i, const Vector3& vel_i,
       const imuBias::ConstantBias& bias_i,
       const PreintegrationBase& preintegratedMeasurements,
       const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis){