diff --git a/matlab/gtsam_examples/IMUKittiExampleGPS.m b/matlab/gtsam_examples/IMUKittiExampleGPS.m
index b335b54be..32f61e47f 100644
--- a/matlab/gtsam_examples/IMUKittiExampleGPS.m
+++ b/matlab/gtsam_examples/IMUKittiExampleGPS.m
@@ -38,7 +38,7 @@ currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
 sigma_init_x = noiseModel.Isotropic.Precisions([ 0.0; 0.0; 0.0; 1; 1; 1 ]);
 sigma_init_v = noiseModel.Isotropic.Sigma(3, 1000.0);
 sigma_init_b = noiseModel.Isotropic.Sigmas([ 0.100; 0.100; 0.100; 5.00e-05; 5.00e-05; 5.00e-05 ]);
-sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * Matrix::Ones(3,1); IMU_metadata.GyroscopeBiasSigma * Matrix::Ones(3,1) ];
+sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * ones(3,1); IMU_metadata.GyroscopeBiasSigma * ones(3,1) ];
 g = [0;0;-9.8];
 w_coriolis = [0;0;0];
 
diff --git a/matlab/gtsam_examples/SBAExample.m b/matlab/gtsam_examples/SBAExample.m
index 808064f4c..b0f754044 100644
--- a/matlab/gtsam_examples/SBAExample.m
+++ b/matlab/gtsam_examples/SBAExample.m
@@ -29,7 +29,7 @@ options.showImages = false;
 measurementNoiseSigma = 1.0;
 pointNoiseSigma = 0.1;
 cameraNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1 ...
-                     0.001*Matrix::Ones(1,5)]';
+                     0.001*ones(1,5)]';
 
 %% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph)
 graph = NonlinearFactorGraph;
diff --git a/matlab/unstable_examples/FlightCameraTransformIMU.m b/matlab/unstable_examples/FlightCameraTransformIMU.m
index 25d6e69bd..b0b37ee33 100644
--- a/matlab/unstable_examples/FlightCameraTransformIMU.m
+++ b/matlab/unstable_examples/FlightCameraTransformIMU.m
@@ -62,7 +62,7 @@ currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
 
 sigma_init_v = noiseModel.Isotropic.Sigma(3, 1.0);
 sigma_init_b = noiseModel.Isotropic.Sigmas([ 0.100; 0.100; 0.100; 5.00e-05; 5.00e-05; 5.00e-05 ]);
-sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * Matrix::Ones(3,1); IMU_metadata.GyroscopeBiasSigma * Matrix::Ones(3,1) ];
+sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * ones(3,1); IMU_metadata.GyroscopeBiasSigma * ones(3,1) ];
 g = [0;0;-9.8];
 w_coriolis = [0;0;0];
 
diff --git a/matlab/unstable_examples/IMUKittiExampleAdvanced.m b/matlab/unstable_examples/IMUKittiExampleAdvanced.m
index 8e2295159..cb13eacee 100644
--- a/matlab/unstable_examples/IMUKittiExampleAdvanced.m
+++ b/matlab/unstable_examples/IMUKittiExampleAdvanced.m
@@ -155,7 +155,7 @@ for measurementIndex = 1:length(timestamps)
     %% Create GPS factor
     if type == 2
       newFactors.add(PriorFactorPose3(currentPoseKey, Pose3(currentPoseGlobal.rotation, GPS_data(measurementIndex).Position), ...
-        noiseModel.Diagonal.Precisions([ zeros(3,1); 1./(GPS_data(measurementIndex).PositionSigma).^2*Matrix::Ones(3,1) ])));
+        noiseModel.Diagonal.Precisions([ zeros(3,1); 1./(GPS_data(measurementIndex).PositionSigma).^2*ones(3,1) ])));
     end
     
     %% Create VO factor
diff --git a/matlab/unstable_examples/IMUKittiExampleVO.m b/matlab/unstable_examples/IMUKittiExampleVO.m
index 91f187301..6434e750a 100644
--- a/matlab/unstable_examples/IMUKittiExampleVO.m
+++ b/matlab/unstable_examples/IMUKittiExampleVO.m
@@ -51,7 +51,7 @@ currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
 sigma_init_x = noiseModel.Isotropic.Sigmas([ 1.0; 1.0; 0.01; 0.01; 0.01; 0.01 ]);
 sigma_init_v = noiseModel.Isotropic.Sigma(3, 1000.0);
 sigma_init_b = noiseModel.Isotropic.Sigmas([ 0.100; 0.100; 0.100; 5.00e-05; 5.00e-05; 5.00e-05 ]);
-sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * Matrix::Ones(3,1); IMU_metadata.GyroscopeBiasSigma * Matrix::Ones(3,1) ];
+sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * ones(3,1); IMU_metadata.GyroscopeBiasSigma * ones(3,1) ];
 g = [0;0;-9.8];
 w_coriolis = [0;0;0];
 
diff --git a/matlab/unstable_examples/TransformCalProjectionFactorIMUExampleISAM.m b/matlab/unstable_examples/TransformCalProjectionFactorIMUExampleISAM.m
index 0999596c9..fd4a17469 100644
--- a/matlab/unstable_examples/TransformCalProjectionFactorIMUExampleISAM.m
+++ b/matlab/unstable_examples/TransformCalProjectionFactorIMUExampleISAM.m
@@ -94,7 +94,7 @@ currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
 
 sigma_init_v = noiseModel.Isotropic.Sigma(3, 1.0);
 sigma_init_b = noiseModel.Isotropic.Sigmas([ 0.100; 0.100; 0.100; 5.00e-05; 5.00e-05; 5.00e-05 ]);
-sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * Matrix::Ones(3,1); IMU_metadata.GyroscopeBiasSigma * Matrix::Ones(3,1) ];
+sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * ones(3,1); IMU_metadata.GyroscopeBiasSigma * ones(3,1) ];
 g = [0;0;-9.8];
 w_coriolis = [0;0;0];