diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index 36dc2288d..9cb2aa165 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -264,46 +264,4 @@ GTSAM_EXPORT Vector concatVectors(const std::list<Vector>& vs);
  * concatenate Vectors
  */
 GTSAM_EXPORT Vector concatVectors(size_t nrVectors, ...);
-} // namespace gtsam
-
-#include <boost/serialization/nvp.hpp>
-#include <boost/serialization/array.hpp>
-#include <boost/serialization/split_free.hpp>
-
-namespace boost {
-  namespace serialization {
-
-    // split version - copies into an STL vector for serialization
-    template<class Archive>
-    void save(Archive & ar, const gtsam::Vector & v, unsigned int /*version*/) {
-      const size_t size = v.size();
-      ar << BOOST_SERIALIZATION_NVP(size);
-      ar << make_nvp("data", make_array(v.data(), v.size()));
-    }
-
-    template<class Archive>
-    void load(Archive & ar, gtsam::Vector & v, unsigned int /*version*/) {
-      size_t size;
-      ar >> BOOST_SERIALIZATION_NVP(size);
-      v.resize(size);
-      ar >> make_nvp("data", make_array(v.data(), v.size()));
-    }
-
-    // split version - copies into an STL vector for serialization
-    template<class Archive, int D>
-    void save(Archive & ar, const Eigen::Matrix<double,D,1> & v, unsigned int /*version*/) {
-      ar << make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
-    }
-
-    template<class Archive, int D>
-    void load(Archive & ar, Eigen::Matrix<double,D,1> & v, unsigned int /*version*/) {
-      ar >> make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
-    }
-
-  } // namespace serialization
-} // namespace boost
-
-BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector)
-BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2)
-BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3)
-BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6)
+}  // namespace gtsam
diff --git a/gtsam/base/VectorSerialization.h b/gtsam/base/VectorSerialization.h
new file mode 100644
index 000000000..97df02a75
--- /dev/null
+++ b/gtsam/base/VectorSerialization.h
@@ -0,0 +1,65 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    VectorSerialization.h
+ * @brief   serialization for Vectors
+ * @author  Frank Dellaert
+ * @date    February 2022
+ */
+
+#pragma once
+
+#include <gtsam/base/Vector.h>
+
+#include <boost/serialization/array.hpp>
+#include <boost/serialization/nvp.hpp>
+#include <boost/serialization/split_free.hpp>
+
+namespace boost {
+namespace serialization {
+
+// split version - copies into an STL vector for serialization
+template <class Archive>
+void save(Archive& ar, const gtsam::Vector& v, unsigned int /*version*/) {
+  const size_t size = v.size();
+  ar << BOOST_SERIALIZATION_NVP(size);
+  ar << make_nvp("data", make_array(v.data(), v.size()));
+}
+
+template <class Archive>
+void load(Archive& ar, gtsam::Vector& v, unsigned int /*version*/) {
+  size_t size;
+  ar >> BOOST_SERIALIZATION_NVP(size);
+  v.resize(size);
+  ar >> make_nvp("data", make_array(v.data(), v.size()));
+}
+
+// split version - copies into an STL vector for serialization
+template <class Archive, int D>
+void save(Archive& ar, const Eigen::Matrix<double, D, 1>& v,
+          unsigned int /*version*/) {
+  ar << make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
+}
+
+template <class Archive, int D>
+void load(Archive& ar, Eigen::Matrix<double, D, 1>& v,
+          unsigned int /*version*/) {
+  ar >> make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
+}
+
+}  // namespace serialization
+}  // namespace boost
+
+BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector)
+BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2)
+BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3)
+BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6)