diff --git a/gtsam_unstable/slam/PoseRotationPrior.h b/gtsam/slam/PoseRotationPrior.h
similarity index 100%
rename from gtsam_unstable/slam/PoseRotationPrior.h
rename to gtsam/slam/PoseRotationPrior.h
diff --git a/gtsam_unstable/slam/PoseTranslationPrior.h b/gtsam/slam/PoseTranslationPrior.h
similarity index 100%
rename from gtsam_unstable/slam/PoseTranslationPrior.h
rename to gtsam/slam/PoseTranslationPrior.h
diff --git a/gtsam_unstable/slam/ReferenceFrameFactor.h b/gtsam/slam/ReferenceFrameFactor.h
similarity index 100%
rename from gtsam_unstable/slam/ReferenceFrameFactor.h
rename to gtsam/slam/ReferenceFrameFactor.h
diff --git a/gtsam_unstable/slam/tests/testPoseRotationPrior.cpp b/gtsam/slam/tests/testPoseRotationPrior.cpp
similarity index 98%
rename from gtsam_unstable/slam/tests/testPoseRotationPrior.cpp
rename to gtsam/slam/tests/testPoseRotationPrior.cpp
index 373b25ce1..9f5c3f426 100644
--- a/gtsam_unstable/slam/tests/testPoseRotationPrior.cpp
+++ b/gtsam/slam/tests/testPoseRotationPrior.cpp
@@ -14,7 +14,7 @@
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/Pose3.h>
 
-#include <gtsam_unstable/slam/PoseRotationPrior.h>
+#include <gtsam/slam/PoseRotationPrior.h>
 
 using namespace gtsam;
 
diff --git a/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp b/gtsam/slam/tests/testPoseTranslationPrior.cpp
similarity index 99%
rename from gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp
rename to gtsam/slam/tests/testPoseTranslationPrior.cpp
index c92f0f0b0..724e0e7e8 100644
--- a/gtsam_unstable/slam/tests/testPoseTranslationPrior.cpp
+++ b/gtsam/slam/tests/testPoseTranslationPrior.cpp
@@ -11,7 +11,7 @@
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/Pose3.h>
 
-#include <gtsam_unstable/slam/PoseTranslationPrior.h>
+#include <gtsam/slam/PoseTranslationPrior.h>
 
 using namespace gtsam;
 
diff --git a/gtsam_unstable/slam/tests/testReferenceFrameFactor.cpp b/gtsam/slam/tests/testReferenceFrameFactor.cpp
similarity index 99%
rename from gtsam_unstable/slam/tests/testReferenceFrameFactor.cpp
rename to gtsam/slam/tests/testReferenceFrameFactor.cpp
index 659bd5dfd..815ce391a 100644
--- a/gtsam_unstable/slam/tests/testReferenceFrameFactor.cpp
+++ b/gtsam/slam/tests/testReferenceFrameFactor.cpp
@@ -28,7 +28,7 @@
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 
-#include <gtsam_unstable/slam/ReferenceFrameFactor.h>
+#include <gtsam/slam/ReferenceFrameFactor.h>
 
 using namespace std;
 using namespace boost;