diff --git a/examples/StereoVOExample.cpp b/examples/StereoVOExample.cpp
new file mode 100644
index 000000000..8a04d13a3
--- /dev/null
+++ b/examples/StereoVOExample.cpp
@@ -0,0 +1,75 @@
+/* ----------------------------------------------------------------------------
+
+ * 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 SteroVOExample.cpp
+ * @brief A stereo visual odometry example
+ * @date May 25, 2014
+ * @author Stephen Camp
+ */
+
+/**
+ * A 3D stereo visual odometry example
+ *  - robot starts at origin
+ *  -moves forward 1 meter
+ *  -takes stereo readings on three landmarks
+ */
+ 
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/nonlinear/Marginals.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/geometry/Cal3_S2Stereo.h>
+#include <gtsam/slam/StereoFactor.h>
+#include <gtsam/nonlinear/NonlinearEquality.h>
+#include <gtsam/inference/Symbol.h>
+
+
+
+using namespace std;
+using namespace gtsam;
+
+int main(int argc, char** argv){
+  //create graph object, add first pose at origin with key '1'
+  NonlinearFactorGraph graph;
+  Pose3 first_pose = Pose3();
+  graph.push_back(NonlinearEquality<Pose3>(1, first_pose));
+  
+  //create factor noise model with 3 sigmas of value 1
+  const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,1);
+  //create stereo camera calibration object with .2m between cameras
+  const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2));
+  //create and add stereo factors between first pose (key value 1) and the three landmarks
+  graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(520, 480, 440), model, 1, 3, K));
+  graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(120, 80, 440), model, 1, 4, K));
+  graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(320, 280, 140), model, 1, 5, K));
+  //create and add stereo factors between second pose and the three landmarks
+  graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(570, 520, 490), model, 2, 3, K));
+  graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(70, 20, 490), model, 2, 4, K));
+  graph.push_back(GenericStereoFactor<Pose3,Point3>(StereoPoint2(320, 270, 115), model, 2, 5, K));
+  //create Values object to contain initial estimates of camera poses and landmark locations
+  Values initial_estimate = Values();
+  //create and add iniital estimates
+  initial_estimate.insert(1, first_pose);
+  initial_estimate.insert(2, Pose3(Rot3(), Point3(0.1, -0.1, 1.1)));
+  initial_estimate.insert(3, Point3(1, 1, 5));
+  initial_estimate.insert(4, Point3(-1, 1, 5));
+  initial_estimate.insert(5, Point3(0, -0.5, 5));
+  //create Levenberg-Marquardt optimizer for resulting factor graph, optimize
+  LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate);
+  Values result = optimizer.optimize();
+
+  result.print("Final result:\n");
+
+  return 0;
+}
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diff --git a/examples/StereoVOExample_large.cpp b/examples/StereoVOExample_large.cpp
new file mode 100644
index 000000000..c661967c0
--- /dev/null
+++ b/examples/StereoVOExample_large.cpp
@@ -0,0 +1,112 @@
+/* ----------------------------------------------------------------------------
+
+* 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 SteroVOExample.cpp
+* @brief A stereo visual odometry example
+* @date May 25, 2014
+* @author Stephen Camp
+*/
+
+
+/**
+ * A 3D stereo visual odometry example
+ *  - robot starts at origin
+ *  -moves forward, taking periodic stereo measurements
+ *  -takes stereo readings of many landmarks
+ */
+
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/nonlinear/Marginals.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/geometry/Cal3_S2Stereo.h>
+
+#include <gtsam/slam/StereoFactor.h>
+#include <gtsam/nonlinear/NonlinearEquality.h>
+#include <gtsam/inference/Symbol.h>
+
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+
+using namespace std;
+using namespace gtsam;
+
+int main(int argc, char** argv){
+
+  NonlinearFactorGraph graph;
+  const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,1);
+  Values initial_estimate = Values();
+  vector<double> read_vector;
+  string read_string, parse_string;
+
+  string data_folder = "C:/Users/Stephen/Documents/Borg/gtsam/Examples/Data/";
+  string calibration_loc = data_folder + "VO_calibration.txt";
+  string pose_loc = data_folder + "VO_camera_poses_large.txt";
+  string factor_loc = data_folder + "VO_stereo_factors_large.txt";
+  
+  //read camera calibration info from file
+  double fx,fy,s,u,v,b;
+  ifstream calibration_file(calibration_loc);
+  cout << "Reading calibration info" << endl;
+  calibration_file >> fx >> fy >> s >> u >> v >> b;
+  //create stereo camera calibration object
+  const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx,fy,s,u,v,b));
+  
+  ifstream pose_file(pose_loc);
+  cout << "Reading camera poses" << endl;
+  int pose_id;
+  MatrixRowMajor m(4,4);
+  //read camera pose parameters and use to make initial estimates of camera poses
+  while (pose_file >> pose_id) {
+    for (int i = 0; i < 16; i++) {
+      pose_file >> m.data()[i];
+    }
+    initial_estimate.insert(Symbol('x', pose_id), Pose3(m));
+  }
+  
+  double x, l, uL, uR, v, X, Y, Z;
+  ifstream factor_file(factor_loc);
+  cout << "Reading stereo factors" << endl;
+  //read stereo measurement details from file and use to create and add GenericStereoFactor objects to the graph representation
+  while (factor_file >> x >> l >> uL >> uR >> v >> X >> Y >> Z) {
+      graph.push_back(
+          GenericStereoFactor<Pose3,Point3>(StereoPoint2(uL, uR, v), model,
+                  Symbol('x', x), Symbol('l', l), K));
+      //if the landmark variable included in this factor has not yet been added to the initial variable value estimate, add it
+      if(!initial_estimate.exists(Symbol('l',l))){
+        Pose3 camPose = initial_estimate.at<Pose3>(Symbol('x', x));
+        //transform_from() transforms the input Point3 from the camera pose space, camPose, to the global space
+        Point3 worldPoint = camPose.transform_from(Point3(X,Y,Z));
+        initial_estimate.insert(Symbol('l',l),worldPoint);
+      }
+  }
+
+  Pose3 first_pose = initial_estimate.at<Pose3>(Symbol('x',1));
+  first_pose.print("Check estimate poses:\n");
+  //constrain the first pose such that it cannot change from its original value during optimization
+  graph.push_back(NonlinearEquality<Pose3>(Symbol('x',1),first_pose));
+
+  cout << "Optimizing" << endl;
+  //create Levenberg-Marquardt optimizer to solve the initial factor graph estimate
+  LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate);
+  Values result = optimizer.optimize();
+
+  cout << "Final result sample:" << endl;
+  Values pose_values = result.filter<Pose3>();
+  pose_values.print("Final camera poses:\n");
+
+  return 0;
+}
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