diff --git a/examples/Data/KittiEquivBiasedImu.txt b/examples/Data/KittiEquivBiasedImu.txt
new file mode 100644
index 000000000..3db3dc8a9
--- /dev/null
+++ b/examples/Data/KittiEquivBiasedImu.txt
@@ -0,0 +1,46969 @@
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diff --git a/examples/Data/KittiEquivBiasedImu_metadata.txt b/examples/Data/KittiEquivBiasedImu_metadata.txt
new file mode 100644
index 000000000..8f0a8a578
--- /dev/null
+++ b/examples/Data/KittiEquivBiasedImu_metadata.txt
@@ -0,0 +1,2 @@
+BodyPtx BodyPty BodyPtz BodyPrx BodyPry BodyPrz AccelerometerSigma GyroscopeSigma IntegrationSigma AccelerometerBiasSigma GyroscopeBiasSigma AverageDeltaT
+0 0 0 0 0 0 0.01 0.000175 0 0.000167 2.91e-006 0.0100395199348279
diff --git a/examples/Data/KittiGps.txt b/examples/Data/KittiGps.txt
new file mode 100644
index 000000000..98ecb0c52
--- /dev/null
+++ b/examples/Data/KittiGps.txt
@@ -0,0 +1,468 @@
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diff --git a/examples/Data/KittiGps_metadata.txt b/examples/Data/KittiGps_metadata.txt
new file mode 100644
index 000000000..df2dc2911
--- /dev/null
+++ b/examples/Data/KittiGps_metadata.txt
@@ -0,0 +1,2 @@
+BodyPtx BodyPty BodyPtz BodyPrx BodyPry BodyPrz UpdatePeriod
+-0.0147725597895258 7.22876903268996e-006 -1.49304056640669e-005 -0.809818318663195 0.32628214806349 -0.797376731139142 1
diff --git a/matlab/gtsam_examples/IMUKittiExampleSimple.m b/matlab/gtsam_examples/IMUKittiExampleSimple.m
new file mode 100644
index 000000000..127c59d98
--- /dev/null
+++ b/matlab/gtsam_examples/IMUKittiExampleSimple.m
@@ -0,0 +1,126 @@
+%close all
+%clc
+
+import gtsam.*;
+
+%% Read data
+IMU_metadata = importdata(gtsam.findExampleDataFile('KittiEquivBiasedImu_metadata.txt'));
+IMU_data = importdata(gtsam.findExampleDataFile('KittiEquivBiasedImu.txt'));
+% Make text file column headers into struct fields
+IMU_metadata = cell2struct(num2cell(IMU_metadata.data), IMU_metadata.colheaders, 2);
+IMU_data = cell2struct(num2cell(IMU_data.data), IMU_data.colheaders, 2);
+
+GPS_metadata = importdata(gtsam.findExampleDataFile('KittiGps_metadata.txt'));
+GPS_data = importdata(gtsam.findExampleDataFile('KittiGps.txt'));
+% Make text file column headers into struct fields
+GPS_metadata = cell2struct(num2cell(GPS_metadata.data), GPS_metadata.colheaders, 2);
+GPS_data = cell2struct(num2cell(GPS_data.data), GPS_data.colheaders, 2);
+
+%% Convert GPS from lat/long to meters
+[ x, y, ~ ] = deg2utm( [GPS_data.Latitude], [GPS_data.Longitude] );
+for i = 1:numel(x)
+    GPS_data(i).Position = gtsam.Point3(x(i), y(i), GPS_data(i).Altitude);
+end
+
+% % Calculate GPS sigma in meters
+% [ xSig, ySig, ~ ] = deg2utm( [GPS_data.Latitude] + [GPS_data.PositionSigma], ...
+%     [GPS_data.Longitude] + [GPS_data.PositionSigma]);
+% xSig = xSig - x;
+% ySig = ySig - y;
+
+%% Start at time of first GPS measurement
+firstGPSPose = 2;
+  
+%% Get initial conditions for the estimated trajectory
+currentPoseGlobal = Pose3(Rot3, GPS_data(firstGPSPose).Position); % initial pose is the reference frame (navigation frame)
+currentVelocityGlobal = LieVector([0;0;0]); % the vehicle is stationary at the beginning
+currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
+
+%% Solver object
+isamParams = ISAM2Params;
+isamParams.setFactorization('QR');
+isamParams.setRelinearizeSkip(1);
+isam = gtsam.ISAM2(isamParams);
+newFactors = NonlinearFactorGraph;
+newValues = Values;
+
+%% Create initial estimate and prior on initial pose, velocity, and biases
+newValues.insert(symbol('x',firstGPSPose), currentPoseGlobal);
+newValues.insert(symbol('v',firstGPSPose), currentVelocityGlobal);
+newValues.insert(symbol('b',1), currentBias);
+
+sigma_init_x = noiseModel.Diagonal.Precisions([0;0;0; 1;1;1]);
+sigma_init_v = noiseModel.Isotropic.Sigma(3, 1000.0);
+sigma_init_b = noiseModel.Isotropic.Sigma(6, 100000.0);
+
+newFactors.add(PriorFactorPose3(symbol('x',firstGPSPose), currentPoseGlobal, sigma_init_x));
+newFactors.add(PriorFactorLieVector(symbol('v',firstGPSPose), currentVelocityGlobal, sigma_init_v));
+newFactors.add(PriorFactorConstantBias(symbol('b',1), currentBias, sigma_init_b));
+
+%% Main loop:
+% (1) we read the measurements
+% (2) we create the corresponding factors in the graph
+% (3) we solve the graph to obtain and optimal estimate of robot trajectory
+
+for poseIndex = firstGPSPose:length(GPS_data)
+  % At each non=IMU measurement we initialize a new node in the graph
+  currentPoseKey = symbol('x',poseIndex);
+  currentVelKey = symbol('v',poseIndex);
+  currentBiasKey = symbol('b',1);
+
+  if poseIndex > firstGPSPose
+      % Summarize IMU data between the previous GPS measurement and now
+      IMUindices = find([IMU_data.Time] > GPS_data(poseIndex-1).Time ...
+          & [IMU_data.Time] <= GPS_data(poseIndex).Time);
+      
+      currentSummarizedMeasurement = gtsam.ImuFactorPreintegratedMeasurements( ...
+          currentBias, IMU_metadata.AccelerometerSigma.^2 * eye(3), ...
+          IMU_metadata.GyroscopeSigma.^2 * eye(3), IMU_metadata.IntegrationSigma.^2 * eye(3));
+      
+      for imuIndex = IMUindices
+          accMeas = [ IMU_data(imuIndex).accelX; IMU_data(imuIndex).accelY; IMU_data(imuIndex).accelZ ];
+          omegaMeas = [ IMU_data(imuIndex).omegaX; IMU_data(imuIndex).omegaY; IMU_data(imuIndex).omegaZ ];
+          deltaT = IMU_data(imuIndex).dt;
+          currentSummarizedMeasurement.integrateMeasurement(accMeas, omegaMeas, deltaT);
+      end
+      
+      % Create IMU factor
+      newFactors.add(ImuFactor( ...
+          currentPoseKey-1, currentVelKey-1, ...
+          currentPoseKey, currentVelKey, ...
+          currentBiasKey, currentSummarizedMeasurement, [0;0;-9.8], [0;0;0]));
+      
+      % Create GPS factor
+      newFactors.add(PriorFactorPose3(currentPoseKey, Pose3(currentPoseGlobal.rotation, GPS_data(poseIndex).Position), ...
+          noiseModel.Diagonal.Precisions([ zeros(3,1); 1./(GPS_data(poseIndex).PositionSigma).^2*ones(3,1) ])));
+      
+      % Add initial value
+      newValues.insert(currentPoseKey, Pose3(currentPoseGlobal.rotation, GPS_data(poseIndex).Position));
+      newValues.insert(currentVelKey, currentVelocityGlobal);
+      %newValues.insert(currentBiasKey, currentBias);
+
+      % Update solver
+      % =======================================================================
+      isam.update(newFactors, newValues);
+      newFactors = NonlinearFactorGraph;
+      newValues = Values;
+
+      cla;
+      plot3DTrajectory(isam.calculateEstimate, 'g-');
+      drawnow;
+      % =======================================================================
+      
+      currentPoseGlobal = isam.calculateEstimate(currentPoseKey);
+      currentVelocityGlobal = isam.calculateEstimate(currentVelKey);
+      currentBias = isam.calculateEstimate(currentBiasKey);
+      
+  end
+end
+
+disp('TODO: display results')
+% figure(1)
+% hold on;
+% plot(positions(1,:), positions(2,:), '-b');
+% plot3DTrajectory(isam.calculateEstimate, 'g-');
+% axis equal;
+% legend('true trajectory', 'traj integrated in body', 'traj integrated in nav')
diff --git a/matlab/gtsam_examples/deg2utm.m b/matlab/gtsam_examples/deg2utm.m
new file mode 100644
index 000000000..7680f7396
--- /dev/null
+++ b/matlab/gtsam_examples/deg2utm.m
@@ -0,0 +1,133 @@
+function  [x,y,utmzone] = deg2utm(Lat,Lon)
+% -------------------------------------------------------------------------
+% [x,y,utmzone] = deg2utm(Lat,Lon)
+%
+% Description: Function to convert lat/lon vectors into UTM coordinates (WGS84).
+% Some code has been extracted from UTM.m function by Gabriel Ruiz Martinez.
+%
+% Inputs:
+%    Lat: Latitude vector.   Degrees.  +ddd.ddddd  WGS84
+%    Lon: Longitude vector.  Degrees.  +ddd.ddddd  WGS84
+%
+% Outputs:
+%    x, y , utmzone.   See example
+%
+% Example 1:
+%    Lat=[40.3154333; 46.283900; 37.577833; 28.645650; 38.855550; 25.061783];
+%    Lon=[-3.4857166; 7.8012333; -119.95525; -17.759533; -94.7990166; 121.640266];
+%    [x,y,utmzone] = deg2utm(Lat,Lon);
+%    fprintf('%7.0f ',x)
+%       458731  407653  239027  230253  343898  362850
+%    fprintf('%7.0f ',y)
+%      4462881 5126290 4163083 3171843 4302285 2772478
+%    utmzone =
+%       30 T
+%       32 T
+%       11 S
+%       28 R
+%       15 S
+%       51 R
+%
+% Example 2: If you have Lat/Lon coordinates in Degrees, Minutes and Seconds
+%    LatDMS=[40 18 55.56; 46 17 2.04];
+%    LonDMS=[-3 29  8.58;  7 48 4.44];
+%    Lat=dms2deg(mat2dms(LatDMS)); %convert into degrees
+%    Lon=dms2deg(mat2dms(LonDMS)); %convert into degrees
+%    [x,y,utmzone] = deg2utm(Lat,Lon)
+%
+% Author: 
+%   Rafael Palacios
+%   Universidad Pontificia Comillas
+%   Madrid, Spain
+% Version: Apr/06, Jun/06, Aug/06, Aug/06
+% Aug/06: fixed a problem (found by Rodolphe Dewarrat) related to southern 
+%    hemisphere coordinates. 
+% Aug/06: corrected m-Lint warnings
+%-------------------------------------------------------------------------
+
+% Argument checking
+%
+error(nargchk(2, 2, nargin));  %2 arguments required
+n1=length(Lat);
+n2=length(Lon);
+if (n1~=n2)
+   error('Lat and Lon vectors should have the same length');
+end
+
+
+% Memory pre-allocation
+%
+x=zeros(n1,1);
+y=zeros(n1,1);
+utmzone(n1,:)='60 X';
+
+% Main Loop
+%
+for i=1:n1
+   la=Lat(i);
+   lo=Lon(i);
+
+   sa = 6378137.000000 ; sb = 6356752.314245;
+         
+   %e = ( ( ( sa ^ 2 ) - ( sb ^ 2 ) ) ^ 0.5 ) / sa;
+   e2 = ( ( ( sa ^ 2 ) - ( sb ^ 2 ) ) ^ 0.5 ) / sb;
+   e2cuadrada = e2 ^ 2;
+   c = ( sa ^ 2 ) / sb;
+   %alpha = ( sa - sb ) / sa;             %f
+   %ablandamiento = 1 / alpha;   % 1/f
+
+   lat = la * ( pi / 180 );
+   lon = lo * ( pi / 180 );
+
+   Huso = fix( ( lo / 6 ) + 31);
+   S = ( ( Huso * 6 ) - 183 );
+   deltaS = lon - ( S * ( pi / 180 ) );
+
+   if (la<-72), Letra='C';
+   elseif (la<-64), Letra='D';
+   elseif (la<-56), Letra='E';
+   elseif (la<-48), Letra='F';
+   elseif (la<-40), Letra='G';
+   elseif (la<-32), Letra='H';
+   elseif (la<-24), Letra='J';
+   elseif (la<-16), Letra='K';
+   elseif (la<-8), Letra='L';
+   elseif (la<0), Letra='M';
+   elseif (la<8), Letra='N';
+   elseif (la<16), Letra='P';
+   elseif (la<24), Letra='Q';
+   elseif (la<32), Letra='R';
+   elseif (la<40), Letra='S';
+   elseif (la<48), Letra='T';
+   elseif (la<56), Letra='U';
+   elseif (la<64), Letra='V';
+   elseif (la<72), Letra='W';
+   else Letra='X';
+   end
+
+   a = cos(lat) * sin(deltaS);
+   epsilon = 0.5 * log( ( 1 +  a) / ( 1 - a ) );
+   nu = atan( tan(lat) / cos(deltaS) ) - lat;
+   v = ( c / ( ( 1 + ( e2cuadrada * ( cos(lat) ) ^ 2 ) ) ) ^ 0.5 ) * 0.9996;
+   ta = ( e2cuadrada / 2 ) * epsilon ^ 2 * ( cos(lat) ) ^ 2;
+   a1 = sin( 2 * lat );
+   a2 = a1 * ( cos(lat) ) ^ 2;
+   j2 = lat + ( a1 / 2 );
+   j4 = ( ( 3 * j2 ) + a2 ) / 4;
+   j6 = ( ( 5 * j4 ) + ( a2 * ( cos(lat) ) ^ 2) ) / 3;
+   alfa = ( 3 / 4 ) * e2cuadrada;
+   beta = ( 5 / 3 ) * alfa ^ 2;
+   gama = ( 35 / 27 ) * alfa ^ 3;
+   Bm = 0.9996 * c * ( lat - alfa * j2 + beta * j4 - gama * j6 );
+   xx = epsilon * v * ( 1 + ( ta / 3 ) ) + 500000;
+   yy = nu * v * ( 1 + ta ) + Bm;
+
+   if (yy<0)
+       yy=9999999+yy;
+   end
+
+   x(i)=xx;
+   y(i)=yy;
+   utmzone(i,:)=sprintf('%02d %c',Huso,Letra);
+end
+