diff --git a/gtsam/linear/GaussianFactorGraph.cpp b/gtsam/linear/GaussianFactorGraph.cpp
index 3275409c2..7e5f0b16c 100644
--- a/gtsam/linear/GaussianFactorGraph.cpp
+++ b/gtsam/linear/GaussianFactorGraph.cpp
@@ -57,7 +57,7 @@ namespace gtsam {
   /* ************************************************************************* */
   std::vector<boost::tuple<size_t, size_t, double> > GaussianFactorGraph::sparseJacobian() const {
     // First find dimensions of each variable
-    FastVector<size_t> dims;
+    vector<size_t> dims;
     BOOST_FOREACH(const sharedFactor& factor, *this) {
       for(GaussianFactor::const_iterator pos = factor->begin(); pos != factor->end(); ++pos) {
         if(dims.size() <= *pos)
@@ -73,7 +73,7 @@ namespace gtsam {
 
     // Iterate over all factors, adding sparse scalar entries
     typedef boost::tuple<size_t, size_t, double> triplet;
-    FastVector<triplet> entries;
+    vector<triplet> entries;
     size_t row = 0;
     BOOST_FOREACH(const sharedFactor& factor, *this) {
       // Convert to JacobianFactor if necessary
diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp
index 82bc67769..2ec964b93 100644
--- a/gtsam/nonlinear/ISAM2.cpp
+++ b/gtsam/nonlinear/ISAM2.cpp
@@ -273,7 +273,7 @@ GaussianFactorGraph ISAM2::getCachedBoundaryFactors(Cliques& orphans) {
 
 /* ************************************************************************* */
 boost::shared_ptr<FastSet<Key> > ISAM2::recalculate(const FastSet<Key>& markedKeys, const FastSet<Key>& relinKeys,
-                                                    const FastVector<Key>& observedKeys,
+                                                    const vector<Key>& observedKeys,
                                                     const FastSet<Key>& unusedIndices,
                                                     const boost::optional<FastMap<Key,int> >& constrainKeys,
                                                     ISAM2Result& result)
@@ -519,7 +519,7 @@ boost::shared_ptr<FastSet<Key> > ISAM2::recalculate(const FastSet<Key>& markedKe
 
 /* ************************************************************************* */
 ISAM2Result ISAM2::update(
-    const NonlinearFactorGraph& newFactors, const Values& newTheta, const FastVector<size_t>& removeFactorIndices,
+    const NonlinearFactorGraph& newFactors, const Values& newTheta, const vector<size_t>& removeFactorIndices,
     const boost::optional<FastMap<Key,int> >& constrainedKeys, const boost::optional<FastList<Key> >& noRelinKeys,
     const boost::optional<FastList<Key> >& extraReelimKeys, bool force_relinearize) {
 
@@ -633,7 +633,7 @@ ISAM2Result ISAM2::update(
   // NOTE: we use assign instead of the iterator constructor here because this
   // is a vector of size_t, so the constructor unintentionally resolves to
   // vector(size_t count, Index value) instead of the iterator constructor.
-  FastVector<Index> observedKeys;  observedKeys.reserve(markedKeys.size());
+  vector<Index> observedKeys;  observedKeys.reserve(markedKeys.size());
   BOOST_FOREACH(Index index, markedKeys) {
     if(unusedIndices.find(index) == unusedIndices.end()) // Only add if not unused
       observedKeys.push_back(index); // Make a copy of these, as we'll soon add to them
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index cc8edbaa0..22322a52c 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -504,7 +504,7 @@ public:
    * @return An ISAM2Result struct containing information about the update
    */
   ISAM2Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(),
-      const FastVector<size_t>& removeFactorIndices = FastVector<size_t>(),
+      const std::vector<size_t>& removeFactorIndices = std::vector<size_t>(),
       const boost::optional<FastMap<Key,int> >& constrainedKeys = boost::none,
       const boost::optional<FastList<Key> >& noRelinKeys = boost::none,
       const boost::optional<FastList<Key> >& extraReelimKeys = boost::none,
@@ -610,7 +610,7 @@ private:
   GaussianFactorGraph getCachedBoundaryFactors(Cliques& orphans);
 
   boost::shared_ptr<FastSet<Key> > recalculate(const FastSet<Key>& markedKeys, const FastSet<Key>& relinKeys,
-      const FastVector<Key>& observedKeys, const FastSet<Key>& unusedIndices, const boost::optional<FastMap<Key,int> >& constrainKeys, ISAM2Result& result);
+      const std::vector<Key>& observedKeys, const FastSet<Key>& unusedIndices, const boost::optional<FastMap<Key,int> >& constrainKeys, ISAM2Result& result);
   //  void linear_update(const GaussianFactorGraph& newFactors);
   void updateDelta(bool forceFullSolve = false) const;