diff --git a/gtsam/base/numericalDerivative.h b/gtsam/base/numericalDerivative.h
index ba72db820..6cd28b951 100644
--- a/gtsam/base/numericalDerivative.h
+++ b/gtsam/base/numericalDerivative.h
@@ -88,7 +88,7 @@ typename internal::FixedSizeMatrix<X>::type numericalGradient(boost::function<do
   TangentX d;
   d.setZero();
 
-  Vector g = Vector::Zero(N); // Can be fixed size
+  Eigen::Matrix<double,N,1> g; g.setZero(); // Can be fixed size
   for (int j = 0; j < N; j++) {
     d(j) = delta;
     double hxplus = h(traits<X>::Retract(x, d));
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index 5f0c3b1d3..dee8e925f 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -154,7 +154,7 @@ namespace gtsam {
         if (throwCheirality_)
           throw e;
       }
-      return Vector::Ones(2) * 2.0 * K_->fx();
+      return Vector2::Constant(2.0 * K_->fx());
     }
 
     /** return the measurement */
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index c330276d3..59fc372cb 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -146,7 +146,7 @@ public:
       if (throwCheirality_)
         throw e;
     }
-    return Vector::Ones(3) * 2.0 * K_->fx();
+    return Vector3::Constant(2.0 * K_->fx());
   }
 
   /** return the measured */
diff --git a/gtsam/slam/TriangulationFactor.h b/gtsam/slam/TriangulationFactor.h
index 4f86023ca..e97cd2730 100644
--- a/gtsam/slam/TriangulationFactor.h
+++ b/gtsam/slam/TriangulationFactor.h
@@ -131,7 +131,7 @@ public:
             << std::endl;
       if (throwCheirality_)
         throw e;
-      return Vector::Ones(Measurement::dimension) * 2.0 * camera_.calibration().fx();
+      return Eigen::Matrix<double,Measurement::dimension,1>::Constant(2.0 * camera_.calibration().fx());
     }
   }