diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp
index 010f474bf..082b4c0f9 100644
--- a/examples/CreateSFMExampleData.cpp
+++ b/examples/CreateSFMExampleData.cpp
@@ -18,7 +18,6 @@
 #include <gtsam/slam/dataset.h>
 #include <gtsam/geometry/CalibratedCamera.h>
 
-#include <boost/foreach.hpp>
 #include <boost/assign/std/vector.hpp>
 
 using namespace boost::assign;
@@ -41,7 +40,7 @@ void createExampleBALFile(const string& filename, const vector<Point3>& P,
   data.cameras.push_back(SfM_Camera(pose1, K));
   data.cameras.push_back(SfM_Camera(pose2, K));
 
-  BOOST_FOREACH(const Point3& p, P) {
+  for(const Point3& p: P) {
 
     // Create the track
     SfM_Track track;
diff --git a/examples/SFMExampleExpressions_bal.cpp b/examples/SFMExampleExpressions_bal.cpp
index 66beefb35..ea50f7163 100644
--- a/examples/SFMExampleExpressions_bal.cpp
+++ b/examples/SFMExampleExpressions_bal.cpp
@@ -78,10 +78,10 @@ int main(int argc, char* argv[]) {
 
   // Simulated measurements from each camera pose, adding them to the factor graph
   size_t j = 0;
-  BOOST_FOREACH(const SfM_Track& track, mydata.tracks) {
+  for(const SfM_Track& track: mydata.tracks) {
     // Leaf expression for j^th point
     Point3_ point_('p', j);
-    BOOST_FOREACH(const SfM_Measurement& m, track.measurements) {
+    for(const SfM_Measurement& m: track.measurements) {
       size_t i = m.first;
       Point2 uv = m.second;
       // Leaf expression for i^th camera
@@ -98,9 +98,9 @@ int main(int argc, char* argv[]) {
   Values initial;
   size_t i = 0;
   j = 0;
-  BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras)
+  for(const SfM_Camera& camera: mydata.cameras)
     initial.insert(C(i++), camera);
-  BOOST_FOREACH(const SfM_Track& track, mydata.tracks)
+  for(const SfM_Track& track: mydata.tracks)
     initial.insert(P(j++), track.p);
 
   /* Optimize the graph and print results */
diff --git a/examples/SFMExample_bal.cpp b/examples/SFMExample_bal.cpp
index 0e11adaed..4c655fb7a 100644
--- a/examples/SFMExample_bal.cpp
+++ b/examples/SFMExample_bal.cpp
@@ -55,8 +55,8 @@ int main (int argc, char* argv[]) {
 
   // Add measurements to the factor graph
   size_t j = 0;
-  BOOST_FOREACH(const SfM_Track& track, mydata.tracks) {
-    BOOST_FOREACH(const SfM_Measurement& m, track.measurements) {
+  for(const SfM_Track& track: mydata.tracks) {
+    for(const SfM_Measurement& m: track.measurements) {
       size_t i = m.first;
       Point2 uv = m.second;
       graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P
@@ -72,8 +72,8 @@ int main (int argc, char* argv[]) {
   // Create initial estimate
   Values initial;
   size_t i = 0; j = 0;
-  BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera);
-  BOOST_FOREACH(const SfM_Track& track, mydata.tracks)    initial.insert(P(j++), track.p);
+  for(const SfM_Camera& camera: mydata.cameras) initial.insert(C(i++), camera);
+  for(const SfM_Track& track: mydata.tracks)    initial.insert(P(j++), track.p);
 
   /* Optimize the graph and print results */
   Values result;
diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp
index 4bbaac3ef..44a402b33 100644
--- a/examples/SFMExample_bal_COLAMD_METIS.cpp
+++ b/examples/SFMExample_bal_COLAMD_METIS.cpp
@@ -60,8 +60,8 @@ int main (int argc, char* argv[]) {
 
   // Add measurements to the factor graph
   size_t j = 0;
-  BOOST_FOREACH(const SfM_Track& track, mydata.tracks) {
-    BOOST_FOREACH(const SfM_Measurement& m, track.measurements) {
+  for(const SfM_Track& track: mydata.tracks) {
+    for(const SfM_Measurement& m: track.measurements) {
       size_t i = m.first;
       Point2 uv = m.second;
       graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P
@@ -77,8 +77,8 @@ int main (int argc, char* argv[]) {
   // Create initial estimate
   Values initial;
   size_t i = 0; j = 0;
-  BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera);
-  BOOST_FOREACH(const SfM_Track& track, mydata.tracks)    initial.insert(P(j++), track.p);
+  for(const SfM_Camera& camera: mydata.cameras) initial.insert(C(i++), camera);
+  for(const SfM_Track& track: mydata.tracks)    initial.insert(P(j++), track.p);
 
   /** ---------------  COMPARISON  -----------------------**/
   /** ----------------------------------------------------**/