diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 2f4fa4da3..daa889c0d 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -100,6 +100,42 @@ Vector6 Pose3::Adjoint(const Vector6& xi_b, OptionalJacobian<6, 6> H_this,
   return result;
 }
 
+/* ************************************************************************* */
+/// The dual version of Adjoint
+Vector6 Pose3::AdjointTranspose(const Vector6& x, OptionalJacobian<6, 6> H_this,
+                                OptionalJacobian<6, 6> H_x) const {
+  //  Ad^T   *   xi   =   [ R^T  R^T.[-t]  .  [w
+  //                         0     R^T ]       v]
+  // Declarations and aliases
+  Matrix3 Rw_H_R, Rw_H_w, Rv_H_R, Rv_H_v, tv_H_t, tv_H_v, Rtv_H_R, Rtv_H_tv;
+  Vector6 result;
+  const Vector3 &w = x.head<3>(), &v = x.tail<3>();
+  auto Rv = result.tail<3>();
+
+  // Calculations
+  const Vector3 Rw =
+      R_.unrotate(w, H_this ? &Rw_H_R : nullptr, H_x ? &Rw_H_w : nullptr);
+  Rv = R_.unrotate(v, H_this ? &Rv_H_R : nullptr, H_x ? &Rv_H_v : nullptr);
+  const Vector3 tv = cross(t_, v, tv_H_t, tv_H_v);
+  const Vector3 Rtv = R_.unrotate(tv, Rtv_H_R, Rtv_H_tv);
+  result.head<3>() = Rw - Rtv;
+
+  // Jacobians
+  if (H_this) {
+    *H_this = (Matrix6() << Rw_H_R - Rtv_H_R, Rv_H_R,  // -Rtv_H_tv * tv_H_t
+               /*        */ Rv_H_R, /*     */ Z_3x3)
+                  .finished();
+  }
+  if (H_x) {
+    *H_x = (Matrix6() << Rw_H_w, -Rtv_H_tv * tv_H_v,  //
+            /*        */ Z_3x3, Rv_H_v)
+               .finished();
+  }
+
+  // Return
+  return result;
+}
+
 /* ************************************************************************* */
 Matrix6 Pose3::adjointMap(const Vector6& xi) {
   Matrix3 w_hat = skewSymmetric(xi(0), xi(1), xi(2));
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 9a8a7e939..cff5fd231 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -156,6 +156,11 @@ public:
   Vector6 Adjoint(const Vector6& xi_b,
                   OptionalJacobian<6, 6> H_this = boost::none,
                   OptionalJacobian<6, 6> H_xib = boost::none) const;
+  
+  /// The dual version of Adjoint
+  Vector6 AdjointTranspose(const Vector6& x,
+                           OptionalJacobian<6, 6> H_this = boost::none,
+                           OptionalJacobian<6, 6> H_x = boost::none) const;
 
   /**
    * Compute the [ad(w,v)] operator as defined in [Kobilarov09siggraph], pg 11
diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
index 9fde4c2c1..722087934 100644
--- a/gtsam/geometry/tests/testPose3.cpp
+++ b/gtsam/geometry/tests/testPose3.cpp
@@ -151,7 +151,11 @@ TEST(Pose3, Adjoint_jacobians)
 {
   Matrix6 actualH1, actualH2, expectedH1, expectedH2;
   std::function<Vector6(const Pose3&, const Vector6&)> Adjoint_proxy =
-      [](const Pose3& T, const Vector6& xi) { return T.Adjoint(xi); };
+      [&](const Pose3& T, const Vector6& xi) {
+        Vector6 res1 = T.AdjointMap() * xi, res2 = T.Adjoint(xi);
+        EXPECT(assert_equal(res1, res2));
+        return res1;
+      };
 
   gtsam::Vector6 xi =
       (gtsam::Vector6() << 0.1, 1.2, 2.3, 3.1, 1.4, 4.5).finished();
@@ -175,6 +179,41 @@ TEST(Pose3, Adjoint_jacobians)
   EXPECT(assert_equal(expectedH2, actualH2));
 }
 
+/* ************************************************************************* */
+// Check AdjointTranspose and jacobians
+TEST(Pose3, AdjointTranspose)
+{
+  Matrix6 actualH1, actualH2, expectedH1, expectedH2;
+  std::function<Vector6(const Pose3&, const Vector6&)> AdjointTranspose_proxy =
+      [&](const Pose3& T, const Vector6& xi) {
+        Vector6 res1 = T.AdjointMap().transpose() * xi,
+                res2 = T.AdjointTranspose(xi);
+        EXPECT(assert_equal(res1, res2));
+        return res1;
+      };
+
+  gtsam::Vector6 xi =
+      (gtsam::Vector6() << 0.1, 1.2, 2.3, 3.1, 1.4, 4.5).finished();
+
+  T.AdjointTranspose(xi, actualH1, actualH2);
+  expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T, xi);
+  expectedH2 = numericalDerivative22(AdjointTranspose_proxy, T, xi);
+  EXPECT(assert_equal(expectedH1, actualH1));
+  EXPECT(assert_equal(expectedH2, actualH2));
+
+  T2.AdjointTranspose(xi, actualH1, actualH2);
+  expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T2, xi);
+  expectedH2 = numericalDerivative22(AdjointTranspose_proxy, T2, xi);
+  EXPECT(assert_equal(expectedH1, actualH1, 1e-8));
+  EXPECT(assert_equal(expectedH2, actualH2));
+
+  T3.AdjointTranspose(xi, actualH1, actualH2);
+  expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T3, xi);
+  expectedH2 = numericalDerivative22(AdjointTranspose_proxy, T3, xi);
+  EXPECT(assert_equal(expectedH1, actualH1));
+  EXPECT(assert_equal(expectedH2, actualH2));
+}
+
 /* ************************************************************************* */
 // assert that T*wedge(xi)*T^-1 is equal to wedge(Ad_T(xi))
 TEST(Pose3, Adjoint_hat)