diff --git a/examples/Data/example_with_vertices.g2o b/examples/Data/example_with_vertices.g2o
new file mode 100644
index 000000000..6c2f1a530
--- /dev/null
+++ b/examples/Data/example_with_vertices.g2o
@@ -0,0 +1,16 @@
+VERTEX_SE3:QUAT 8646911284551352320 40 -1.15443e-13 10 0.557345 0.557345 -0.435162 -0.435162
+VERTEX_SE3:QUAT 8646911284551352321 28.2843 28.2843 10 0.301633 0.728207 -0.568567 -0.235508
+VERTEX_SE3:QUAT 8646911284551352322 -1.6986e-08 40 10 -3.89609e-10 0.788205 -0.615412 -2.07622e-10
+VERTEX_SE3:QUAT 8646911284551352323 -28.2843 28.2843 10 -0.301633 0.728207 -0.568567 0.235508
+VERTEX_SE3:QUAT 8646911284551352324 -40 -2.32554e-10 10 -0.557345 0.557345 -0.435162 0.435162
+VERTEX_SE3:QUAT 8646911284551352325 -28.2843 -28.2843 10 -0.728207 0.301633 -0.235508 0.568567
+VERTEX_SE3:QUAT 8646911284551352326 -2.53531e-09 -40 10 -0.788205 -1.25891e-11 -3.82742e-13 0.615412
+VERTEX_SE3:QUAT 8646911284551352327 28.2843 -28.2843 10 -0.728207 -0.301633 0.235508 0.568567
+VERTEX_TRACKXYZ 7782220156096217088 10 10 10
+VERTEX_TRACKXYZ 7782220156096217089 -10 10 10
+VERTEX_TRACKXYZ 7782220156096217090 -10 -10 10
+VERTEX_TRACKXYZ 7782220156096217091 10 -10 10
+VERTEX_TRACKXYZ 7782220156096217092 10 10 -10
+VERTEX_TRACKXYZ 7782220156096217093 -10 10 -10
+VERTEX_TRACKXYZ 7782220156096217094 -10 -10 -10
+VERTEX_TRACKXYZ 7782220156096217095 10 -10 -10
diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp
index 136b7a93c..b6b1776d2 100644
--- a/gtsam/slam/tests/testDataset.cpp
+++ b/gtsam/slam/tests/testDataset.cpp
@@ -277,6 +277,17 @@ TEST(dataSet, readG2oCheckDeterminants) {
   EXPECT_LONGS_EQUAL(0, landmarks.size());
 }
 
+/* ************************************************************************* */
+TEST(dataSet, readG2oLandmarks) {
+  const string g2oFile = findExampleDataFile("example_with_vertices.g2o");
+
+  // Check number of poses and landmarks. Should be 8 each.
+  const map<Key, Pose3> poses = parse3DPoses(g2oFile);
+  EXPECT_LONGS_EQUAL(8, poses.size());
+  const map<Key, Point3> landmarks = parse3DLandmarks(g2oFile);
+  EXPECT_LONGS_EQUAL(8, landmarks.size());
+}
+
 /* ************************************************************************* */
 static NonlinearFactorGraph expectedGraph(const SharedNoiseModel& model) {
   NonlinearFactorGraph g;