diff --git a/gtsam/geometry/Point3.cpp b/gtsam/geometry/Point3.cpp
index ce4ceee89..8665f7716 100644
--- a/gtsam/geometry/Point3.cpp
+++ b/gtsam/geometry/Point3.cpp
@@ -75,17 +75,15 @@ double dot(const Point3 &p, const Point3 &q, OptionalJacobian<1, 3> H1,
   return p.x() * q.x() + p.y() * q.y() + p.z() * q.z();
 }
 
-Point3Pair mean(const std::vector<Point3Pair> &abPointPairs) {
+Point3Pair means(const std::vector<Point3Pair> &abPointPairs) {
   const size_t n = abPointPairs.size();
-  Point3 aCentroid(0, 0, 0), bCentroid(0, 0, 0);
+  Point3 aSum(0, 0, 0), bSum(0, 0, 0);
   for (const Point3Pair &abPair : abPointPairs) {
-    aCentroid += abPair.first;
-    bCentroid += abPair.second;
+    aSum += abPair.first;
+    bSum += abPair.second;
   }
   const double f = 1.0 / n;
-  aCentroid *= f;
-  bCentroid *= f;
-  return make_pair(aCentroid, bCentroid);
+  return {aSum * f, bSum * f};
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index 7f58497e9..33b5836f8 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -67,8 +67,8 @@ GTSAM_EXPORT Point3 mean(const CONTAINER& points) {
   return sum / points.size();
 }
 
-/// mean of Point3 pair 
-GTSAM_EXPORT Point3Pair mean(const std::vector<Point3Pair>& abPointPairs);
+/// mean of Point3 pair
+GTSAM_EXPORT Point3Pair means(const std::vector<Point3Pair> &abPointPairs);
 
 template <typename A1, typename A2>
 struct Range;