diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i
index 1e159ec5f..ef946c655 100644
--- a/gtsam/slam/slam.i
+++ b/gtsam/slam/slam.i
@@ -322,12 +322,7 @@ template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
 virtual class KarcherMeanFactor : gtsam::NonlinearFactor {
   KarcherMeanFactor(const gtsam::KeyVector& keys);
 };
-  
-template <class T>
-T FindKarcherMean(const std::vector<T, Eigen::aligned_allocator<T>> &rotations);
 
-template <class T> T FindKarcherMean(std::initializer_list<T> &&rotations);
-  
 class Rot3Vector {
   Rot3Vector();
   size_t size() const;
@@ -336,8 +331,9 @@ class Rot3Vector {
   gtsam::Rot3 at(size_t i) const;
   void push_back(const gtsam::Rot3& R);
 };
+gtsam::Rot3 FindKarcherMean<gtsam::Rot3>(const Rot3Vector &rotations);
 typedef FindKarcherMean<gtsam::Rot3> FindKarcherMeanRot3;
-gtsam::Rot3 FindKarcherMeanRot3(const Rot3Vector& rotations);
+gtsam::Rot3 FindKarcherMeanRot3(const gtsam::Rot3Vector& rotations);
 
 #include <gtsam/slam/FrobeniusFactor.h>
 gtsam::noiseModel::Isotropic* ConvertNoiseModel(gtsam::noiseModel::Base* model,