diff --git a/gtsam/base/ThreadsafeException.h b/gtsam/base/ThreadsafeException.h
index ad228e590..57e37237f 100644
--- a/gtsam/base/ThreadsafeException.h
+++ b/gtsam/base/ThreadsafeException.h
@@ -21,7 +21,6 @@
 
 #include <gtsam/config.h> // for GTSAM_USE_TBB
 
-#include <boost/optional/optional.hpp>
 #include <gtsam/dllexport.h>
 #include <string>
 #include <typeinfo>
diff --git a/gtsam/base/Vector.cpp b/gtsam/base/Vector.cpp
index 16d913a96..ce7aeba7b 100644
--- a/gtsam/base/Vector.cpp
+++ b/gtsam/base/Vector.cpp
@@ -18,7 +18,6 @@
  */
 
 #include <gtsam/base/Vector.h>
-#include <boost/optional.hpp>
 #include <stdexcept>
 #include <cstdarg>
 #include <limits>
diff --git a/gtsam/geometry/PinholeSet.h b/gtsam/geometry/PinholeSet.h
index 7e3dae56f..7541f886b 100644
--- a/gtsam/geometry/PinholeSet.h
+++ b/gtsam/geometry/PinholeSet.h
@@ -19,7 +19,6 @@
 
 #include <gtsam/geometry/CameraSet.h>
 #include <gtsam/geometry/triangulation.h>
-#include <boost/optional.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index fbf2d82e4..26e6e6b7a 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -21,7 +21,6 @@
 
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/base/Lie.h>
-#include <boost/optional.hpp>
 
 #include <random>
 
diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index 8db13cddc..8f629786d 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -28,7 +28,6 @@
 #include <gtsam/base/Matrix.h>
 #include <gtsam/dllexport.h>
 
-#include <boost/optional.hpp>
 
 #include <random>
 #include <string>
diff --git a/gtsam/geometry/concepts.h b/gtsam/geometry/concepts.h
index bafb62418..30d87ac53 100644
--- a/gtsam/geometry/concepts.h
+++ b/gtsam/geometry/concepts.h
@@ -25,7 +25,6 @@
 #pragma once
 
 #include <gtsam/base/Matrix.h>
-#include <boost/optional.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h
index 1357eacdd..fa9944e87 100644
--- a/gtsam/inference/VariableIndex.h
+++ b/gtsam/inference/VariableIndex.h
@@ -23,7 +23,6 @@
 #include <gtsam/base/FastVector.h>
 #include <gtsam/dllexport.h>
 
-#include <boost/optional/optional.hpp>
 #include <boost/smart_ptr/shared_ptr.hpp>
 
 #include <cassert>
diff --git a/gtsam/nonlinear/ISAM2UpdateParams.h b/gtsam/nonlinear/ISAM2UpdateParams.h
index 575c99be5..34e4d353a 100644
--- a/gtsam/nonlinear/ISAM2UpdateParams.h
+++ b/gtsam/nonlinear/ISAM2UpdateParams.h
@@ -20,7 +20,6 @@
 #include <gtsam/dllexport.h>              // GTSAM_EXPORT
 #include <gtsam/inference/Key.h>          // Key, KeySet
 #include <gtsam/nonlinear/ISAM2Result.h>  //FactorIndices
-#include <boost/optional.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index 9b894db25..5cbed2a1f 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -29,7 +29,6 @@
 #include <gtsam/base/timing.h>
 
 #include <boost/format.hpp>
-#include <boost/optional.hpp>
 #include <boost/range/adaptor/map.hpp>
 
 #include <cmath>
diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.h b/gtsam/nonlinear/NonlinearOptimizerParams.h
index 6809137ef..45240ecfc 100644
--- a/gtsam/nonlinear/NonlinearOptimizerParams.h
+++ b/gtsam/nonlinear/NonlinearOptimizerParams.h
@@ -23,7 +23,6 @@
 
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/SubgraphSolver.h>
-#include <boost/optional.hpp>
 #include <string>
 
 namespace gtsam {
diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index 3f405f985..78fdb189a 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -37,7 +37,6 @@
 #include <gtsam/base/timing.h>
 
 #include <boost/none.hpp>
-#include <boost/optional/optional.hpp>
 #include <boost/serialization/nvp.hpp>
 #include <boost/smart_ptr/shared_ptr.hpp>
 #include <iostream>
diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index 09627a68f..1eba3c953 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -29,7 +29,6 @@
 #include <gtsam/linear/RegularHessianFactor.h>
 #include <gtsam/geometry/CameraSet.h>
 
-#include <boost/optional.hpp>
 #include <optional>
 #include <boost/serialization/optional.hpp>
 #include <boost/make_shared.hpp>
diff --git a/gtsam_unstable/discrete/examples/schedulingExample.cpp b/gtsam_unstable/discrete/examples/schedulingExample.cpp
index bf5f2f25c..dd92b295d 100644
--- a/gtsam_unstable/discrete/examples/schedulingExample.cpp
+++ b/gtsam_unstable/discrete/examples/schedulingExample.cpp
@@ -12,7 +12,6 @@
 #include <gtsam/base/debug.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/optional.hpp>
 #include <boost/format.hpp>
 
 #include <algorithm>
diff --git a/gtsam_unstable/discrete/examples/schedulingQuals12.cpp b/gtsam_unstable/discrete/examples/schedulingQuals12.cpp
index a15b6f922..8c4c0d728 100644
--- a/gtsam_unstable/discrete/examples/schedulingQuals12.cpp
+++ b/gtsam_unstable/discrete/examples/schedulingQuals12.cpp
@@ -12,7 +12,6 @@
 #include <gtsam/base/debug.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/optional.hpp>
 #include <boost/format.hpp>
 
 #include <algorithm>
diff --git a/gtsam_unstable/discrete/examples/schedulingQuals13.cpp b/gtsam_unstable/discrete/examples/schedulingQuals13.cpp
index e888875a4..06276c516 100644
--- a/gtsam_unstable/discrete/examples/schedulingQuals13.cpp
+++ b/gtsam_unstable/discrete/examples/schedulingQuals13.cpp
@@ -12,7 +12,6 @@
 #include <gtsam/base/debug.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/optional.hpp>
 #include <boost/format.hpp>
 
 #include <algorithm>
diff --git a/gtsam_unstable/discrete/tests/testScheduler.cpp b/gtsam_unstable/discrete/tests/testScheduler.cpp
index 3b0528360..f868abb5e 100644
--- a/gtsam_unstable/discrete/tests/testScheduler.cpp
+++ b/gtsam_unstable/discrete/tests/testScheduler.cpp
@@ -10,7 +10,6 @@
 #include <gtsam/base/timing.h>
 #include <gtsam_unstable/discrete/Scheduler.h>
 
-#include <boost/optional.hpp>
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam_unstable/geometry/InvDepthCamera3.h b/gtsam_unstable/geometry/InvDepthCamera3.h
index 643be4e3e..8b2797938 100644
--- a/gtsam_unstable/geometry/InvDepthCamera3.h
+++ b/gtsam_unstable/geometry/InvDepthCamera3.h
@@ -12,7 +12,6 @@
 #pragma once
 
 #include <cmath>
-#include <boost/optional.hpp>
 #include <boost/serialization/nvp.hpp>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/Matrix.h>
diff --git a/gtsam_unstable/partition/FindSeparator.h b/gtsam_unstable/partition/FindSeparator.h
index 9a6c61800..3093fae4d 100644
--- a/gtsam_unstable/partition/FindSeparator.h
+++ b/gtsam_unstable/partition/FindSeparator.h
@@ -10,7 +10,6 @@
 
 #include <map>
 #include <vector>
-#include <boost/optional.hpp>
 #include <gtsam/inference/Key.h>
 #include <gtsam/inference/Symbol.h>
 
diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
index f6189cc5a..c6c960ac1 100644
--- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
+++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
@@ -28,7 +28,6 @@
 #include <gtsam/base/numericalDerivative.h>
 
 #include <boost/bind/bind.hpp>
-#include <boost/optional.hpp>
 
 #include <ostream>
 
diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h
index 5d251094e..f4c20a2ba 100644
--- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h
+++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h
@@ -27,7 +27,6 @@
 // Using numerical derivative to calculate d(Pose3::Expmap)/dw
 #include <gtsam/base/numericalDerivative.h>
 
-#include <boost/optional.hpp>
 
 #include <ostream>
 
diff --git a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
index a107f84b5..508f1f294 100644
--- a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
+++ b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
@@ -27,7 +27,6 @@
 #include <gtsam/base/numericalDerivative.h>
 
 #include <boost/bind/bind.hpp>
-#include <boost/optional.hpp>
 
 #include <ostream>
 
diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h
index d7cebcffc..5ba25abd2 100644
--- a/gtsam_unstable/slam/MultiProjectionFactor.h
+++ b/gtsam_unstable/slam/MultiProjectionFactor.h
@@ -22,7 +22,6 @@
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/geometry/PinholeCamera.h>
-#include <boost/optional.hpp>
 #include "gtsam/geometry/Cal3_S2.h"
 
 namespace gtsam {
diff --git a/gtsam_unstable/slam/ProjectionFactorPPP.h b/gtsam_unstable/slam/ProjectionFactorPPP.h
index 2b799ac1d..9c09257d3 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPP.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPP.h
@@ -21,7 +21,6 @@
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Cal3_S2.h>
-#include <boost/optional.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h
index 7159cd5e0..b4288d7a0 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPPC.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h
@@ -23,7 +23,6 @@
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam_unstable/dllexport.h>
 
-#include <boost/optional.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
index e6c0fd16a..2d2c2c6c2 100644
--- a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
+++ b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
@@ -23,7 +23,6 @@
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam_unstable/dllexport.h>
 
-#include <boost/optional.hpp>
 
 namespace gtsam {
 
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactor.h b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
index 9ebc9ba10..1a2a648e3 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactor.h
@@ -31,7 +31,6 @@
 #include <gtsam_unstable/dllexport.h>
 
 #include <boost/make_shared.hpp>
-#include <boost/optional.hpp>
 #include <boost/serialization/optional.hpp>
 #include <optional>
 #include <vector>