diff --git a/gtsam_unstable/geometry/Tensor1.h b/gtsam/geometry/Tensor1.h
similarity index 97%
rename from gtsam_unstable/geometry/Tensor1.h
rename to gtsam/geometry/Tensor1.h
index 274a46e12..685166b53 100644
--- a/gtsam_unstable/geometry/Tensor1.h
+++ b/gtsam/geometry/Tensor1.h
@@ -17,7 +17,7 @@
  */
 
 #pragma once
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 
 namespace tensors {
 
diff --git a/gtsam_unstable/geometry/Tensor1Expression.h b/gtsam/geometry/Tensor1Expression.h
similarity index 98%
rename from gtsam_unstable/geometry/Tensor1Expression.h
rename to gtsam/geometry/Tensor1Expression.h
index 3e2f419c3..4e43fff58 100644
--- a/gtsam_unstable/geometry/Tensor1Expression.h
+++ b/gtsam/geometry/Tensor1Expression.h
@@ -21,7 +21,7 @@
 #include <cmath>
 #include <iostream>
 #include <stdexcept>
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 
 namespace tensors {
 
diff --git a/gtsam_unstable/geometry/Tensor2.h b/gtsam/geometry/Tensor2.h
similarity index 97%
rename from gtsam_unstable/geometry/Tensor2.h
rename to gtsam/geometry/Tensor2.h
index 6ffd132a6..12fd1509f 100644
--- a/gtsam_unstable/geometry/Tensor2.h
+++ b/gtsam/geometry/Tensor2.h
@@ -17,7 +17,7 @@
  */
 
 #pragma once
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 
 namespace tensors {
 
diff --git a/gtsam_unstable/geometry/Tensor2Expression.h b/gtsam/geometry/Tensor2Expression.h
similarity index 99%
rename from gtsam_unstable/geometry/Tensor2Expression.h
rename to gtsam/geometry/Tensor2Expression.h
index 30090203b..6c953a5aa 100644
--- a/gtsam_unstable/geometry/Tensor2Expression.h
+++ b/gtsam/geometry/Tensor2Expression.h
@@ -20,7 +20,7 @@
 
 #include <stdexcept>
 #include <iostream>
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 
 namespace tensors {
 
diff --git a/gtsam_unstable/geometry/Tensor3.h b/gtsam/geometry/Tensor3.h
similarity index 98%
rename from gtsam_unstable/geometry/Tensor3.h
rename to gtsam/geometry/Tensor3.h
index 56e2bd52c..78cdcb9f2 100644
--- a/gtsam_unstable/geometry/Tensor3.h
+++ b/gtsam/geometry/Tensor3.h
@@ -17,7 +17,7 @@
  */
 
 #pragma once
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 
 namespace tensors {
 
diff --git a/gtsam_unstable/geometry/Tensor3Expression.h b/gtsam/geometry/Tensor3Expression.h
similarity index 99%
rename from gtsam_unstable/geometry/Tensor3Expression.h
rename to gtsam/geometry/Tensor3Expression.h
index 7982b2481..0356caa6f 100644
--- a/gtsam_unstable/geometry/Tensor3Expression.h
+++ b/gtsam/geometry/Tensor3Expression.h
@@ -19,7 +19,7 @@
 #pragma once
 
 #include <iostream>
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 
 namespace tensors {
 
diff --git a/gtsam_unstable/geometry/Tensor4.h b/gtsam/geometry/Tensor4.h
similarity index 96%
rename from gtsam_unstable/geometry/Tensor4.h
rename to gtsam/geometry/Tensor4.h
index 35f2b15c4..26a52750c 100644
--- a/gtsam_unstable/geometry/Tensor4.h
+++ b/gtsam/geometry/Tensor4.h
@@ -17,7 +17,7 @@
  */
 
 #pragma once
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 
 namespace tensors {
 
diff --git a/gtsam_unstable/geometry/Tensor5.h b/gtsam/geometry/Tensor5.h
similarity index 97%
rename from gtsam_unstable/geometry/Tensor5.h
rename to gtsam/geometry/Tensor5.h
index 3fe98e73c..e12f7d2fb 100644
--- a/gtsam_unstable/geometry/Tensor5.h
+++ b/gtsam/geometry/Tensor5.h
@@ -17,7 +17,7 @@
  */
 
 #pragma once
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 
 namespace tensors {
 
diff --git a/gtsam_unstable/geometry/Tensor5Expression.h b/gtsam/geometry/Tensor5Expression.h
similarity index 98%
rename from gtsam_unstable/geometry/Tensor5Expression.h
rename to gtsam/geometry/Tensor5Expression.h
index 808ad0a5d..e9f0e852a 100644
--- a/gtsam_unstable/geometry/Tensor5Expression.h
+++ b/gtsam/geometry/Tensor5Expression.h
@@ -19,7 +19,7 @@
 #pragma once
 
 #include <iostream>
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 
 namespace tensors {
 
diff --git a/gtsam_unstable/geometry/projectiveGeometry.cpp b/gtsam/geometry/projectiveGeometry.cpp
similarity index 93%
rename from gtsam_unstable/geometry/projectiveGeometry.cpp
rename to gtsam/geometry/projectiveGeometry.cpp
index 53914bd1f..31c975c43 100644
--- a/gtsam_unstable/geometry/projectiveGeometry.cpp
+++ b/gtsam/geometry/projectiveGeometry.cpp
@@ -19,8 +19,8 @@
 #include <boost/foreach.hpp>
 #include <gtsam/base/Matrix.h>
 
-#include <gtsam_unstable/geometry/tensorInterface.h>
-#include <gtsam_unstable/geometry/projectiveGeometry.h>
+#include <gtsam/geometry/tensorInterface.h>
+#include <gtsam/geometry/projectiveGeometry.h>
 
 namespace gtsam {
 
diff --git a/gtsam_unstable/geometry/projectiveGeometry.h b/gtsam/geometry/projectiveGeometry.h
similarity index 98%
rename from gtsam_unstable/geometry/projectiveGeometry.h
rename to gtsam/geometry/projectiveGeometry.h
index f2f05614b..cfad515ac 100644
--- a/gtsam_unstable/geometry/projectiveGeometry.h
+++ b/gtsam/geometry/projectiveGeometry.h
@@ -19,7 +19,7 @@
 #pragma once
 
 #include <list>
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 
 namespace gtsam {
 
diff --git a/gtsam_unstable/geometry/tensorInterface.h b/gtsam/geometry/tensorInterface.h
similarity index 98%
rename from gtsam_unstable/geometry/tensorInterface.h
rename to gtsam/geometry/tensorInterface.h
index c037cf9cc..61212e2c9 100644
--- a/gtsam_unstable/geometry/tensorInterface.h
+++ b/gtsam/geometry/tensorInterface.h
@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include <gtsam_unstable/geometry/tensors.h>
+#include <gtsam/geometry/tensors.h>
 #include <gtsam/base/Matrix.h>
 
 namespace gtsam {
diff --git a/gtsam_unstable/geometry/tensors.h b/gtsam/geometry/tensors.h
similarity index 65%
rename from gtsam_unstable/geometry/tensors.h
rename to gtsam/geometry/tensors.h
index bae027202..1441a7823 100644
--- a/gtsam_unstable/geometry/tensors.h
+++ b/gtsam/geometry/tensors.h
@@ -29,17 +29,17 @@ namespace tensors {
 } // namespace tensors
 
 // Expression templates
-#include <gtsam_unstable/geometry/Tensor1Expression.h>
-#include <gtsam_unstable/geometry/Tensor2Expression.h>
-#include <gtsam_unstable/geometry/Tensor3Expression.h>
+#include <gtsam/geometry/Tensor1Expression.h>
+#include <gtsam/geometry/Tensor2Expression.h>
+#include <gtsam/geometry/Tensor3Expression.h>
 // Tensor4 not needed so far
-#include <gtsam_unstable/geometry/Tensor5Expression.h>
+#include <gtsam/geometry/Tensor5Expression.h>
 
 // Actual tensor classes
-#include <gtsam_unstable/geometry/Tensor1.h>
-#include <gtsam_unstable/geometry/Tensor2.h>
-#include <gtsam_unstable/geometry/Tensor3.h>
-#include <gtsam_unstable/geometry/Tensor4.h>
-#include <gtsam_unstable/geometry/Tensor5.h>
+#include <gtsam/geometry/Tensor1.h>
+#include <gtsam/geometry/Tensor2.h>
+#include <gtsam/geometry/Tensor3.h>
+#include <gtsam/geometry/Tensor4.h>
+#include <gtsam/geometry/Tensor5.h>
 
 
diff --git a/gtsam_unstable/geometry/tests/testFundamental.cpp b/gtsam/geometry/tests/testFundamental.cpp
similarity index 92%
rename from gtsam_unstable/geometry/tests/testFundamental.cpp
rename to gtsam/geometry/tests/testFundamental.cpp
index 6cbcf6df1..297b36036 100644
--- a/gtsam_unstable/geometry/tests/testFundamental.cpp
+++ b/gtsam/geometry/tests/testFundamental.cpp
@@ -23,9 +23,9 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam_unstable/geometry/tensors.h>
-#include <gtsam_unstable/geometry/tensorInterface.h>
-#include <gtsam_unstable/geometry/projectiveGeometry.h>
+#include <gtsam/geometry/tensors.h>
+#include <gtsam/geometry/tensorInterface.h>
+#include <gtsam/geometry/projectiveGeometry.h>
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam_unstable/geometry/tests/testHomography2.cpp b/gtsam/geometry/tests/testHomography2.cpp
similarity index 97%
rename from gtsam_unstable/geometry/tests/testHomography2.cpp
rename to gtsam/geometry/tests/testHomography2.cpp
index db20f9e76..417d41977 100644
--- a/gtsam_unstable/geometry/tests/testHomography2.cpp
+++ b/gtsam/geometry/tests/testHomography2.cpp
@@ -24,9 +24,9 @@ using namespace boost::assign;
 #include <CppUnitLite/TestHarness.h>
 
 #include <gtsam/base/Testable.h>
-#include <gtsam_unstable/geometry/tensors.h>
-#include <gtsam_unstable/geometry/tensorInterface.h>
-#include <gtsam_unstable/geometry/projectiveGeometry.h>
+#include <gtsam/geometry/tensors.h>
+#include <gtsam/geometry/tensorInterface.h>
+#include <gtsam/geometry/projectiveGeometry.h>
 #include <gtsam/geometry/Pose3.h>
 
 using namespace std;
diff --git a/gtsam_unstable/geometry/tests/testTensors.cpp b/gtsam/geometry/tests/testTensors.cpp
similarity index 98%
rename from gtsam_unstable/geometry/tests/testTensors.cpp
rename to gtsam/geometry/tests/testTensors.cpp
index d4f6dadb2..755b274a6 100644
--- a/gtsam_unstable/geometry/tests/testTensors.cpp
+++ b/gtsam/geometry/tests/testTensors.cpp
@@ -23,9 +23,9 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam_unstable/geometry/tensors.h>
-#include <gtsam_unstable/geometry/tensorInterface.h>
-#include <gtsam_unstable/geometry/projectiveGeometry.h>
+#include <gtsam/geometry/tensors.h>
+#include <gtsam/geometry/tensorInterface.h>
+#include <gtsam/geometry/projectiveGeometry.h>
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index dc3b2827b..04b9db5a3 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -3,7 +3,6 @@
 set (gtsam_unstable_subdirs
     base 
     dynamics
-    geometry
     slam 
 )
 
@@ -27,7 +26,6 @@ set(gtsam_unstable_srcs
     ${base_srcs} 
     ${discrete_srcs}
     ${dynamics_srcs}
-    ${geometry_srcs}
     ${slam_srcs} 
 )
 
diff --git a/gtsam_unstable/geometry/CMakeLists.txt b/gtsam_unstable/geometry/CMakeLists.txt
deleted file mode 100644
index 684abc698..000000000
--- a/gtsam_unstable/geometry/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-# Install headers
-file(GLOB geometry_headers "*.h")
-install(FILES ${geometry_headers} DESTINATION include/gtsam_unstable/geometry)
-
-# Components to link tests in this subfolder against
-set(geometry_local_libs
-    base 
-    geometry
-    geometry_unstable)
-
-set (geometry_full_libs
-    gtsam-static
-    gtsam_unstable-static)
-
-# Exclude tests that don't work
-set (geometry_excluded_tests "")
-
-# Add all tests
-gtsam_add_subdir_tests(geometry_unstable "${geometry_local_libs}" "${geometry_full_libs}" "${geometry_excluded_tests}") 
-