diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 9baa49e8e..9bcfcca3e 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -979,7 +979,7 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
 gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
                                 gtsam::Cal3Bundler* sharedCal,
                                 const gtsam::Point2Vector& measurements,
-                                double rank_tol, bool optimize);
+                                double rank_tol, bool optimize);                
 gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3_S2& cameras,
                                 const gtsam::Point2Vector& measurements,
                                 double rank_tol, bool optimize);
@@ -992,6 +992,9 @@ gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
 gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
                                 const gtsam::Point2Vector& measurements,
                                 double rank_tol, bool optimize);
+gtsam::Point3 triangulatePoint3(const gtsam::CameraSetSpherical& cameras,
+                                const std::vector<gtsam::Unit3>& measurements,
+                                double rank_tol, bool optimize);
 gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
                                    gtsam::Cal3_S2* sharedCal,
                                    const gtsam::Point2Vector& measurements,
@@ -1010,7 +1013,10 @@ gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras,
 gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras,
                                    const gtsam::Point2Vector& measurements,
                                    const gtsam::Point3& initialEstimate);
-
+gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetSpherical& cameras,
+                                   const std::vector<gtsam::Unit3>& measurements,
+                                   const gtsam::Point3& initialEstimate);
+                                   
 #include <gtsam/geometry/BearingRange.h>
 template <POSE, POINT, BEARING, RANGE>
 class BearingRange {
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 104846bdf..12e9892fc 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -24,6 +24,7 @@
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/CameraSet.h>
 #include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/SphericalCamera.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
@@ -518,6 +519,6 @@ using CameraSetCal3Bundler = CameraSet<PinholeCamera<Cal3Bundler>>;
 using CameraSetCal3_S2 = CameraSet<PinholeCamera<Cal3_S2>>;
 using CameraSetCal3Fisheye = CameraSet<PinholeCamera<Cal3Fisheye>>;
 using CameraSetCal3Unified = CameraSet<PinholeCamera<Cal3Unified>>;
-
+using CameraSetSpherical = CameraSet<SphericalCamera>;
 } // \namespace gtsam