diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp
index b34cf1f19..7d6b77d07 100644
--- a/gtsam/navigation/ImuFactor.cpp
+++ b/gtsam/navigation/ImuFactor.cpp
@@ -31,20 +31,6 @@ using namespace std;
 //------------------------------------------------------------------------------
 // Inner class PreintegratedMeasurements
 //------------------------------------------------------------------------------
-boost::shared_ptr<PreintegratedImuMeasurements::Params> PreintegratedImuMeasurements::MakeParams(
-    const Matrix3& measuredAccCovariance,
-    const Matrix3& measuredOmegaCovariance,
-    const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration,
-    bool use2ndOrderCoriolis) {
-  boost::shared_ptr<Params> p = boost::make_shared<Params>();
-  p->accelerometerCovariance = measuredAccCovariance;
-  p->gyroscopeCovariance = measuredOmegaCovariance;
-  p->integrationCovariance = integrationErrorCovariance;
-  p->use2ndOrderIntegration = use2ndOrderIntegration;
-  p->use2ndOrderCoriolis = use2ndOrderCoriolis;
-  return p;
-}
-//------------------------------------------------------------------------------
 void PreintegratedImuMeasurements::print(const string& s) const {
   PreintegrationBase::print(s);
 }
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 1ef7e5679..c85b56872 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -50,13 +50,6 @@ protected:
 
 public:
 
-  /// Construct parameters
-  static boost::shared_ptr<Params> MakeParams(
-      const Matrix3& measuredAccCovariance,
-      const Matrix3& measuredOmegaCovariance,
-      const Matrix3& integrationErrorCovariance, bool use2ndOrderIntegration =
-          false, bool use2ndOrderCoriolis = false);
-
  /**
    *  Constructor, initializes the class with no measurements
    *  @param bias Current estimate of acceleration and rotation rate biases