diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index a83a41827..6a52f7cb5 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -94,6 +94,7 @@ namespace gtsam {
 		/**
 		 * Create a level camera at the given 2D pose and height
 		 * @param pose2 specifies the location and viewing direction
+		 * @param height specifies the height of the camera (along the positive Z-axis)
 		 * (theta 0 = looking in direction of positive X axis)
 		 */
 		static CalibratedCamera Level(const Pose2& pose2, double height);
@@ -126,8 +127,9 @@ namespace gtsam {
 		/**
 		 * This function receives the camera pose and the landmark location and
 		 * returns the location the point is supposed to appear in the image
-		 * @param camera the CalibratedCamera
 		 * @param point a 3D point to be projected
+		 * @param D_intrinsic_pose the optionally computed Jacobian with respect to pose
+		 * @param D_intrinsic_point the optionally computed Jacobian with respect to the 3D point
 		 * @return the intrinsic coordinates of the projected point
 		 */
 		Point2 project(const Point3& point,
@@ -150,6 +152,8 @@ namespace gtsam {
     /**
      * Calculate range to a landmark
      * @param point 3D location of landmark
+     * @param H1 optionally computed Jacobian with respect to pose
+     * @param H2 optionally computed Jacobian with respect to the 3D point
      * @return range (double)
      */
     double range(const Point3& point,
@@ -160,6 +164,8 @@ namespace gtsam {
     /**
      * Calculate range to another pose
      * @param pose Other SO(3) pose
+     * @param H1 optionally computed Jacobian with respect to pose
+     * @param H2 optionally computed Jacobian with respect to the 3D point
      * @return range (double)
      */
     double range(const Pose3& pose,
@@ -170,6 +176,8 @@ namespace gtsam {
     /**
      * Calculate range to another camera
      * @param camera Other camera
+     * @param H1 optionally computed Jacobian with respect to pose
+     * @param H2 optionally computed Jacobian with respect to the 3D point
      * @return range (double)
      */
     double range(const CalibratedCamera& camera,
diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 2bb63c382..8588c738b 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -156,6 +156,7 @@ namespace gtsam {
 
 			/**
 			 * A Gaussian noise model created by specifying a covariance matrix.
+			 * @param covariance The square covariance Matrix
 			 * @param smart check if can be simplified to derived class
 			 */
 			static shared_ptr Covariance(const Matrix& covariance, bool smart = true);
@@ -263,6 +264,7 @@ namespace gtsam {
 			/**
 			 * A diagonal noise model created by specifying a Vector of variances, i.e.
 			 * i.e. the diagonal of the covariance matrix.
+			 * @param variances A vector containing the variances of this noise model
 			 * @param smart check if can be simplified to derived class
 			 */
 			static shared_ptr Variances(const Vector& variances, bool smart = true);
@@ -492,6 +494,8 @@ namespace gtsam {
 
 			/**
 			 * An isotropic noise model created by specifying a variance = sigma^2.
+			 * @param dim The dimension of this noise model
+			 * @param variance The variance of this noise model
 			 * @param smart check if can be simplified to derived class
 			 */
 			static shared_ptr Variance(size_t dim, double variance, bool smart = true);
diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h
index daaf64575..33db8c1be 100644
--- a/gtsam_unstable/slam/InvDepthFactor3.h
+++ b/gtsam_unstable/slam/InvDepthFactor3.h
@@ -41,10 +41,11 @@ public:
 	/**
 	 * Constructor
 	 * TODO: Mark argument order standard (keys, measurement, parameters)
-	 * @param z is the 2 dimensional location of point in image (the measurement)
+	 * @param measured is the 2 dimensional location of point in image (the measurement)
 	 * @param model is the standard deviation
-	 * @param j_pose is basically the frame number
-	 * @param j_landmark is the index of the landmark
+	 * @param poseKey is basically the frame number
+	 * @param pointKey is the index of the landmark
+   * @param invDepthKey is the index of inverse depth
 	 * @param K shared pointer to the constant calibration
 	 */
 	InvDepthFactor3(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model,
@@ -57,6 +58,7 @@ public:
 	/**
 	 * print
 	 * @param s optional string naming the factor
+	 * @param keyFormatter optional formatter useful for printing Symbols
 	 */
 	void print(const std::string& s = "InvDepthFactor3",
 			const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const {