diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index c3b398e22..afe9b1958 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -66,7 +66,7 @@ typedef ManifoldPreintegration PreintegrationType;
  * as soon as it is received from the IMU) so as to avoid costly integration
  * at time of factor construction.
  *
- * @ingroup SLAM
+ * @ingroup navigation
  */
 class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
 
@@ -165,7 +165,7 @@ public:
  * (which are usually slowly varying quantities), which is up to the caller.
  * See also CombinedImuFactor for a class that does this for you.
  *
- * @ingroup SLAM
+ * @ingroup navigation
  */
 class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
     imuBias::ConstantBias> {
@@ -256,7 +256,7 @@ public:
 
 /**
  * ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity.
- * @ingroup SLAM
+ * @ingroup navigation
  */
 class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> {
 private:
diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h
index c5124a3fe..2d4a0ca32 100644
--- a/gtsam/nonlinear/PriorFactor.h
+++ b/gtsam/nonlinear/PriorFactor.h
@@ -24,7 +24,7 @@ namespace gtsam {
 
   /**
    * A class for a soft prior on any Value type
-   * @ingroup SLAM
+   * @ingroup nonlinear
    */
   template<class VALUE>
   class PriorFactor: public NoiseModelFactor1<VALUE> {
diff --git a/gtsam/sam/BearingRangeFactor.h b/gtsam/sam/BearingRangeFactor.h
index c83009651..0c38a2ea3 100644
--- a/gtsam/sam/BearingRangeFactor.h
+++ b/gtsam/sam/BearingRangeFactor.h
@@ -27,7 +27,7 @@ namespace gtsam {
 
 /**
  * Binary factor for a bearing/range measurement
- * @ingroup SLAM
+ * @ingroup sam
  */
 template <typename A1, typename A2,
           typename B = typename Bearing<A1, A2>::result_type,
diff --git a/gtsam/slam/AntiFactor.h b/gtsam/slam/AntiFactor.h
index a0d6a1207..b291afac9 100644
--- a/gtsam/slam/AntiFactor.h
+++ b/gtsam/slam/AntiFactor.h
@@ -26,7 +26,7 @@ namespace gtsam {
    * A class for downdating an existing factor from a graph. The AntiFactor returns the same
    * linearized Hessian matrices of the original factor, but with the opposite sign. This effectively
    * cancels out any affects of the original factor during optimization."
-   * @ingroup SLAM
+   * @ingroup slam
    */
   class AntiFactor: public NonlinearFactor {
 
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index 5422a61ec..dc72f07b2 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -34,7 +34,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam VALUE the Value type
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class VALUE>
   class BetweenFactor: public NoiseModelFactor2<VALUE, VALUE> {
diff --git a/gtsam/slam/BoundingConstraint.h b/gtsam/slam/BoundingConstraint.h
index 07c765669..c09d4136d 100644
--- a/gtsam/slam/BoundingConstraint.h
+++ b/gtsam/slam/BoundingConstraint.h
@@ -27,7 +27,7 @@ namespace gtsam {
  * greater/less than a fixed threshold.  The function
  * will need to have its value function implemented to return
  * a scalar for comparison.
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<class VALUE>
 struct BoundingConstraint1: public NoiseModelFactor1<VALUE> {
diff --git a/gtsam/slam/EssentialMatrixConstraint.h b/gtsam/slam/EssentialMatrixConstraint.h
index 91487b522..dd3c52286 100644
--- a/gtsam/slam/EssentialMatrixConstraint.h
+++ b/gtsam/slam/EssentialMatrixConstraint.h
@@ -25,7 +25,7 @@ namespace gtsam {
 
 /**
  * Binary factor between two Pose3 variables induced by an EssentialMatrix measurement
- * @ingroup SLAM
+ * @ingroup slam
  */
 class GTSAM_EXPORT EssentialMatrixConstraint: public NoiseModelFactor2<Pose3, Pose3> {
 
diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index 5cf8d5b75..23f10de34 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -54,7 +54,7 @@ namespace gtsam {
 /**
  * Non-linear factor for a constraint derived from a 2D measurement.
  * The calibration is unknown here compared to GenericProjectionFactor
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<class CAMERA, class LANDMARK>
 class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> {
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index e01b9b0b8..0fc1c0b54 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -33,7 +33,7 @@ namespace gtsam {
    * Non-linear factor for a constraint derived from a 2D measurement. 
    * The calibration is known here.
    * The main building block for visual SLAM.
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template <class POSE = Pose3, class LANDMARK = Point3,
             class CALIBRATION = Cal3_S2>
diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h
index f1403bdb1..e432cbfb1 100644
--- a/gtsam/slam/SmartProjectionPoseFactor.h
+++ b/gtsam/slam/SmartProjectionPoseFactor.h
@@ -24,7 +24,7 @@
 namespace gtsam {
 /**
  *
- * @ingroup SLAM
+ * @ingroup slam
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally
@@ -39,7 +39,7 @@ namespace gtsam {
  * The factor only constrains poses (variable dimension is 6).
  * This factor requires that values contains the involved poses (Pose3).
  * If the calibration should be optimized, as well, use SmartProjectionFactor instead!
- * @ingroup SLAM
+ * @ingroup slam
  */
 template <class CALIBRATION>
 class SmartProjectionPoseFactor
diff --git a/gtsam/slam/SmartProjectionRigFactor.h b/gtsam/slam/SmartProjectionRigFactor.h
index 40af55b2c..9065d5b23 100644
--- a/gtsam/slam/SmartProjectionRigFactor.h
+++ b/gtsam/slam/SmartProjectionRigFactor.h
@@ -29,7 +29,7 @@
 namespace gtsam {
 /**
  *
- * @ingroup SLAM
+ * @ingroup slam
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating
@@ -46,7 +46,7 @@ namespace gtsam {
  * calibration (i.e., are from the same camera), use SmartProjectionPoseFactor
  * instead! If the calibration should be optimized, as well, use
  * SmartProjectionFactor instead!
- * @ingroup SLAM
+ * @ingroup slam
  */
 template <class CAMERA>
 class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index 40ea7158f..ca1774e31 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -25,7 +25,7 @@ namespace gtsam {
 
 /**
  * A Generic Stereo Factor
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<class POSE, class LANDMARK>
 class GenericStereoFactor: public NoiseModelFactor2<POSE, LANDMARK> {
diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h
index 405436b82..80d323019 100644
--- a/gtsam/slam/TriangulationFactor.h
+++ b/gtsam/slam/TriangulationFactor.h
@@ -27,7 +27,7 @@ namespace gtsam {
 /**
  * Non-linear factor for a constraint derived from a 2D measurement.
  * The calibration and pose are assumed known.
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<class CAMERA>
 class TriangulationFactor: public NoiseModelFactor1<Point3> {
diff --git a/gtsam_unstable/slam/BetweenFactorEM.h b/gtsam_unstable/slam/BetweenFactorEM.h
index ffaa05c7d..848abc9cc 100644
--- a/gtsam_unstable/slam/BetweenFactorEM.h
+++ b/gtsam_unstable/slam/BetweenFactorEM.h
@@ -28,7 +28,7 @@ namespace gtsam {
 /**
  * A class for a measurement predicted by "between(config[key1],config[key2])"
  * @tparam VALUE the Value type
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<class VALUE>
 class BetweenFactorEM: public NonlinearFactor {
diff --git a/gtsam_unstable/slam/BiasedGPSFactor.h b/gtsam_unstable/slam/BiasedGPSFactor.h
index 5359fac4e..250c15b83 100644
--- a/gtsam_unstable/slam/BiasedGPSFactor.h
+++ b/gtsam_unstable/slam/BiasedGPSFactor.h
@@ -25,7 +25,7 @@ namespace gtsam {
   /**
    * A class to model GPS measurements, including a bias term which models
    * common-mode errors and that can be partially corrected if other sensors are used
-   * @ingroup SLAM
+   * @ingroup slam
    */
   class BiasedGPSFactor: public NoiseModelFactor2<Pose3, Point3> {
 
diff --git a/gtsam_unstable/slam/MultiProjectionFactor.h b/gtsam_unstable/slam/MultiProjectionFactor.h
index bd4f64fd7..91d79f208 100644
--- a/gtsam_unstable/slam/MultiProjectionFactor.h
+++ b/gtsam_unstable/slam/MultiProjectionFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
   /**
    * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
    * i.e. the main building block for visual SLAM.
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
   class MultiProjectionFactor: public NoiseModelFactor {
diff --git a/gtsam_unstable/slam/PoseBetweenFactor.h b/gtsam_unstable/slam/PoseBetweenFactor.h
index a55f3a6e3..b47dcaf33 100644
--- a/gtsam_unstable/slam/PoseBetweenFactor.h
+++ b/gtsam_unstable/slam/PoseBetweenFactor.h
@@ -26,7 +26,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam POSE the Pose type
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class POSE>
   class PoseBetweenFactor: public NoiseModelFactor2<POSE, POSE> {
diff --git a/gtsam_unstable/slam/PosePriorFactor.h b/gtsam_unstable/slam/PosePriorFactor.h
index 6668a9b4b..b0cb25cfa 100644
--- a/gtsam_unstable/slam/PosePriorFactor.h
+++ b/gtsam_unstable/slam/PosePriorFactor.h
@@ -23,7 +23,7 @@ namespace gtsam {
 
   /**
    * A class for a soft prior on any Value type
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class POSE>
   class PosePriorFactor: public NoiseModelFactor1<POSE> {
diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h
index 2f8bad6df..8d183015e 100644
--- a/gtsam_unstable/slam/PoseToPointFactor.h
+++ b/gtsam_unstable/slam/PoseToPointFactor.h
@@ -18,7 +18,7 @@ namespace gtsam {
 
 /**
  * A class for a measurement between a pose and a point.
- * @ingroup SLAM
+ * @ingroup slam
  */
 template<typename POSE = Pose3, typename POINT = Point3>
 class PoseToPointFactor : public NoiseModelFactor2<POSE, POINT> {
diff --git a/gtsam_unstable/slam/ProjectionFactorPPP.h b/gtsam_unstable/slam/ProjectionFactorPPP.h
index 41f79d614..d6f643c6c 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPP.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPP.h
@@ -28,7 +28,7 @@ namespace gtsam {
   /**
    * Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
    * i.e. the main building block for visual SLAM.
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
   class ProjectionFactorPPP: public NoiseModelFactor3<POSE, POSE, LANDMARK> {
diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h
index ec0a426f9..5c9a8c691 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPPC.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h
@@ -30,7 +30,7 @@ namespace gtsam {
   /**
    * Non-linear factor for a constraint derived from a 2D measurement. This factor
    * estimates the body pose, body-camera transform, 3D landmark, and calibration.
-   * @ingroup SLAM
+   * @ingroup slam
    */
 template <class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
 class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
diff --git a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
index c349fd095..597d894da 100644
--- a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
+++ b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
@@ -38,7 +38,7 @@ namespace gtsam {
  * define the alpha = (t_p - t_A) / (t_B - t_A), we will use the pose
  * interpolated between A and B by the alpha to project the corresponding
  * landmark to Point2.
- * @ingroup SLAM
+ * @ingroup slam
  */
 
 class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
index b2f58f75f..59a562d2c 100644
--- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
@@ -25,7 +25,7 @@
 namespace gtsam {
 /**
  *
- * @ingroup SLAM
+ * @ingroup slam
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@@ -39,7 +39,7 @@ namespace gtsam {
  * shutter model of the camera with given readout time. The factor requires that
  * values contain (for each pixel observation) two consecutive camera poses from
  * which the pixel observation pose can be interpolated.
- * @ingroup SLAM
+ * @ingroup slam
  */
 template <class CAMERA>
 class GTSAM_UNSTABLE_EXPORT SmartProjectionPoseFactorRollingShutter
diff --git a/gtsam_unstable/slam/SmartRangeFactor.h b/gtsam_unstable/slam/SmartRangeFactor.h
index 8a2a1d3a8..1c035331b 100644
--- a/gtsam_unstable/slam/SmartRangeFactor.h
+++ b/gtsam_unstable/slam/SmartRangeFactor.h
@@ -24,7 +24,7 @@ namespace gtsam {
 
 /**
  * Smart factor for range SLAM
- * @ingroup SLAM
+ * @ingroup slam
  */
 class SmartRangeFactor: public NoiseModelFactor {
  protected:
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index e1bc01691..0c9174bf6 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -23,7 +23,7 @@
 namespace gtsam {
 /**
  *
- * @ingroup SLAM
+ * @ingroup slam
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@@ -38,7 +38,7 @@ namespace gtsam {
  * calibration or the same calibration can be shared by multiple cameras. This
  * factor requires that values contain the involved poses and extrinsics (both
  * are Pose3 variables).
- * @ingroup SLAM
+ * @ingroup slam
  */
 class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
     : public SmartStereoProjectionFactor {
diff --git a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
index 9e83b7736..ad09cd207 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h
@@ -26,7 +26,7 @@
 namespace gtsam {
 /**
  *
- * @ingroup SLAM
+ * @ingroup slam
  *
  * If you are using the factor, please cite:
  * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert,
@@ -41,7 +41,7 @@ namespace gtsam {
  * has its own calibration.
  * The factor only constrains poses (variable dimension is 6).
  * This factor requires that values contains the involved poses (Pose3).
- * @ingroup SLAM
+ * @ingroup slam
  */
 class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionPoseFactor
     : public SmartStereoProjectionFactor {
diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
index 80d2abf9b..3afa83f45 100644
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h
@@ -29,7 +29,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam VALUE the Value type
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class VALUE>
   class TransformBtwRobotsUnaryFactor: public NonlinearFactor { // TODO why not NoiseModelFactor1 ?
diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
index cce18cc44..2748d337e 100644
--- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
+++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
@@ -31,7 +31,7 @@ namespace gtsam {
   /**
    * A class for a measurement predicted by "between(config[key1],config[key2])"
    * @tparam VALUE the Value type
-   * @ingroup SLAM
+   * @ingroup slam
    */
   template<class VALUE>
   class TransformBtwRobotsUnaryFactorEM: public NonlinearFactor {