diff --git a/gtsam/sam/BearingFactor.h b/gtsam/sam/BearingFactor.h
index c78b5a3bf..fa7559972 100644
--- a/gtsam/sam/BearingFactor.h
+++ b/gtsam/sam/BearingFactor.h
@@ -1,6 +1,6 @@
 /* ----------------------------------------------------------------------------
 
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
  * Atlanta, Georgia 30332-0415
  * All Rights Reserved
  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@@ -16,87 +16,43 @@
 
 #pragma once
 
-#include <gtsam/nonlinear/NonlinearFactor.h>
+#include <gtsam/nonlinear/ExpressionFactor.h>
 #include <gtsam/geometry/concepts.h>
 #include <gtsam/base/Testable.h>
 
 namespace gtsam {
 
-  /**
-   * Binary factor for a bearing measurement
-   * @addtogroup SLAM
-   */
-  template<class POSE, class POINT, class ROTATION = typename POSE::Rotation>
-  class BearingFactor: public NoiseModelFactor2<POSE, POINT> {
-  private:
+/**
+ * Binary factor for a bearing measurement
+ * @addtogroup SAM
+ */
+template <class Pose, class Point, class Measured = typename Pose::Rotation>
+class BearingFactor : public ExpressionFactor<Measured> {
+ private:
+  typedef BearingFactor<Pose, Point> This;
+  typedef ExpressionFactor<Measured> Base;
 
-    typedef POSE Pose;
-    typedef ROTATION Rot;
-    typedef POINT Point;
+  /** concept check by type */
+  GTSAM_CONCEPT_TESTABLE_TYPE(Measured)
+  GTSAM_CONCEPT_POSE_TYPE(Pose)
 
-    typedef BearingFactor<POSE, POINT> This;
-    typedef NoiseModelFactor2<POSE, POINT> Base;
+ public:
+  /** primary constructor */
+  BearingFactor(Key poseKey, Key pointKey, const Measured& measured,
+                const SharedNoiseModel& model)
+      : Base(model, measured,
+             Expression<Measured>(Expression<Pose>(poseKey), &Pose::bearing,
+                                  Expression<Point>(pointKey))) {}
 
-    Rot measured_; /** measurement */
+  virtual ~BearingFactor() {}
 
-    /** concept check by type */
-    GTSAM_CONCEPT_TESTABLE_TYPE(Rot)
-    GTSAM_CONCEPT_POSE_TYPE(Pose)
+  /** print contents */
+  void print(const std::string& s = "",
+             const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
+    std::cout << s << "BearingFactor, bearing = ";
+    this->measurement_.print();
+    Base::print("", keyFormatter);
+  }
+};  // BearingFactor
 
-  public:
-
-    /** default constructor for serialization/testing only */
-    BearingFactor() {}
-
-    /** primary constructor */
-    BearingFactor(Key poseKey, Key pointKey, const Rot& measured,
-        const SharedNoiseModel& model) :
-          Base(model, poseKey, pointKey), measured_(measured) {
-    }
-
-    virtual ~BearingFactor() {}
-
-    /// @return a deep copy of this factor
-    virtual gtsam::NonlinearFactor::shared_ptr clone() const {
-      return boost::static_pointer_cast<gtsam::NonlinearFactor>(
-          gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
-
-    /** h(x)-z -> between(z,h(x)) for Rot2 manifold */
-    Vector evaluateError(const Pose& pose, const Point& point,
-        boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
-      Rot hx = pose.bearing(point, H1, H2);
-      return Rot::Logmap(measured_.between(hx));
-    }
-
-    /** return the measured */
-    const Rot& measured() const {
-      return measured_;
-    }
-
-    /** equals */
-    virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
-      const This *e =  dynamic_cast<const This*> (&expected);
-      return e != NULL && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol);
-    }
-
-    /** print contents */
-    void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
-      std::cout << s << "BearingFactor, bearing = ";
-      measured_.print();
-      Base::print("", keyFormatter);
-    }
-
-  private:
-
-    /** Serialization function */
-    friend class boost::serialization::access;
-    template<class ARCHIVE>
-    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
-      ar & boost::serialization::make_nvp("NoiseModelFactor2",
-          boost::serialization::base_object<Base>(*this));
-      ar & BOOST_SERIALIZATION_NVP(measured_);
-    }
-
-  }; // BearingFactor
-
-} // namespace gtsam
+}  // namespace gtsam