diff --git a/doc/gtsam.bib b/doc/gtsam.bib
new file mode 100644
index 000000000..8cb4f1a55
--- /dev/null
+++ b/doc/gtsam.bib
@@ -0,0 +1,133 @@
+@String { ICCV      = {Intl. Conf. on Computer Vision (ICCV)} }
+@String { IROS      = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)} }
+@String { CVPR      = {IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)} }
+@String { IJRR      = {Intl. J. of Robotics Research} }
+@String { RAS       = {Robotics and Autonomous Systems} }
+@String { TRO       = {{IEEE} Trans. Robotics} }
+@String { IT        = {{IEEE} Trans. Inform. Theory} }
+@String { ISRR      = {Proc. of the Intl. Symp. of Robotics Research (ISRR)} }
+
+@inproceedings{Davison03iccv,
+  title         =   {Real-Time Simultaneous Localisation and Mapping with a Single Camera},
+  author        =   {A.J. Davison},
+  booktitle     =   ICCV,
+  year          =   {2003},
+  month         =   {Oct},
+  pages         =   {1403-1410}
+}
+
+@inproceedings{Dellaert10iros,
+  title         =   {Subgraph-preconditioned Conjugate Gradient for Large Scale SLAM},
+  author        =   {F. Dellaert and J. Carlson and V. Ila and K. Ni and C.E. Thorpe},
+  booktitle     =   IROS,
+  year          =   {2010},
+}
+
+@inproceedings{Dellaert99b,
+  title         =   {Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization},
+  author        =   {F. Dellaert and D. Fox and W. Burgard and S. Thrun},
+  booktitle     =   CVPR,
+  year          =   {1999}
+}
+
+@article{Dellaert06ijrr,
+  title         =   {Square {Root} {SAM}: Simultaneous Localization and Mapping via Square Root Information Smoothing},
+  author        =   {F. Dellaert and M. Kaess},
+  journal       =   IJRR,
+  year          =   {2006},
+  month         =   {Dec},
+  number        =   {12},
+  pages         =   {1181--1203},
+  volume        =   {25},
+}
+
+@article{DurrantWhyte06ram,
+  title         =   {Simultaneous Localisation and Mapping ({SLAM}): Part {I} The Essential Algorithms},
+  author        =   {H.F. Durrant-Whyte and T. Bailey},
+  journal       =   {Robotics \& Automation Magazine},
+  year          =   {2006},
+  month         =   {Jun},
+}
+
+@inproceedings{Jian11iccv,
+  title         =   {Generalized Subgraph Preconditioners for Large-Scale Bundle Adjustment},
+  author        =   {Y.-D. Jian and D. Balcan and F. Dellaert},
+  booktitle     =   ICCV,
+  year          =   {2011},
+}
+
+@article{Kaess09ras,
+  title         =   {Covariance Recovery from a Square Root Information Matrix for Data Association},
+  author        =   {M. Kaess and F. Dellaert},
+  journal       =   RAS,
+  year          =   {2009},
+}
+
+@article{Kaess12ijrr,
+  title         =   {{iSAM2}: Incremental Smoothing and Mapping Using the {B}ayes Tree},
+  author        =   {M. Kaess and H. Johannsson and R. Roberts and V. Ila and J. Leonard and F. Dellaert},
+  journal       =   IJRR,
+  year          =   {2012},
+  month         =   {Feb},
+  pages         =   {217--236},
+  volume        =   {31},
+  issue         =   {2},
+}
+
+@article{Kaess08tro,
+  title         =   {{iSAM}: Incremental Smoothing and Mapping},
+  author        =   {M. Kaess and A. Ranganathan and F. Dellaert},
+  journal       =   TRO,
+  year          =   {2008},
+  month         =   {Dec},
+  number        =   {6},
+  pages         =   {1365-1378},
+  volume        =   {24},
+}
+
+@book{Koller09book,
+  title         =   {Probabilistic Graphical Models: Principles and Techniques},
+  author        =   {D. Koller and N. Friedman},
+  publisher     =   {The MIT Press},
+  year          =   {2009}
+}
+
+@Article{Kschischang01it,
+  title         =   {Factor Graphs and the Sum-Product Algorithm},
+  Author        =   {F.R. Kschischang and B.J. Frey and H-A. Loeliger},
+  Journal       =   IT,
+  Year          =   {2001},
+
+  Month         =   {February},
+  Number        =   {2},
+  Volume        =   {47}
+}
+
+@article{Loeliger04spm,
+  Title         =   {An Introduction to Factor Graphs},
+  Author        =   {H.-A. Loeliger},
+  Journal       =   {IEEE Signal Processing Magazine},
+  Year          =   {2004},
+
+  Month         =   {January},
+  Pages         =   {28--41}
+}
+
+@inproceedings{Nister04cvpr2,
+  title         =   {Visual Odometry},
+  author        =   {D. Nist\'er and O. Naroditsky and J. Bergen},
+  booktitle     =   CVPR,
+  year          =   {2004},
+  month         =   {Jun},
+  pages         =   {652-659},
+  volume        =   {1}
+}
+
+@InProceedings{Smith87b,
+  title         =   {A stochastic map for uncertain spatial relationships},
+  Author        =   {R. Smith and M. Self and P. Cheeseman},
+  Booktitle     =   ISRR,
+  Year          =   {1988},
+  Pages         =   {467-474}
+}
+
diff --git a/doc/gtsam.lyx b/doc/gtsam.lyx
index 9d1e6831a..38c6d2b4d 100644
--- a/doc/gtsam.lyx
+++ b/doc/gtsam.lyx
@@ -3748,7 +3748,7 @@ GTSAM was made possible by the efforts of many collaborators at Georgia
 
 \begin_inset CommandInset bibtex
 LatexCommand bibtex
-bibfiles "../refs"
+bibfiles "gtsam"
 options "apalike"
 
 \end_inset
diff --git a/doc/gtsam.pdf b/doc/gtsam.pdf
index a5b92ec27..ef4ec2df1 100644
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