diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h
index aac946901..86636c38f 100644
--- a/gtsam/slam/JacobianFactorSVD.h
+++ b/gtsam/slam/JacobianFactorSVD.h
@@ -65,7 +65,7 @@ public:
           KeyMatrix(key,
               (Enull.transpose()).block(0, ZDim * k, m2, ZDim) * Fblocks[k]));
     }
-    JacobianFactor::fillTerms(QF, -Enull.transpose() * b, model);
+    JacobianFactor::fillTerms(QF, Enull.transpose() * b, model);
   }
 };