diff --git a/matlab/examples/LocalizationExample.m b/matlab/examples/OdometryExample.m
similarity index 99%
rename from matlab/examples/LocalizationExample.m
rename to matlab/examples/OdometryExample.m
index dacd6d972..bb9d06c70 100644
--- a/matlab/examples/LocalizationExample.m
+++ b/matlab/examples/OdometryExample.m
@@ -44,7 +44,7 @@ result = graph.optimize(initialEstimate);
 result.print(sprintf('\nFinal result:\n  '));
 
 %% Plot Covariance Ellipses
-figure(1);clf;
+cla;
 plot(result.xs(),result.ys(),'k*-'); hold on
 marginals = graph.marginals(result);
 for i=1:result.size()
diff --git a/matlab/examples/PlanarSLAMExample.m b/matlab/examples/PlanarSLAMExample.m
index c5cc2d5d3..7d4973883 100644
--- a/matlab/examples/PlanarSLAMExample.m
+++ b/matlab/examples/PlanarSLAMExample.m
@@ -62,7 +62,7 @@ result = graph.optimize(initialEstimate);
 result.print(sprintf('\nFinal result:\n'));
 
 %% Plot Covariance Ellipses
-figure(1);clf;hold on
+cla;hold on
 marginals = graph.marginals(result);
 for i=1:3
     key = symbol('x',i);
diff --git a/matlab/examples/Pose2SLAMExample.m b/matlab/examples/Pose2SLAMExample.m
index 1f63ffd60..e15cab3bf 100644
--- a/matlab/examples/Pose2SLAMExample.m
+++ b/matlab/examples/Pose2SLAMExample.m
@@ -56,7 +56,7 @@ result = graph.optimize(initialEstimate);
 result.print(sprintf('\nFinal result:\n'));
 
 %% Plot Covariance Ellipses
-figure(1);clf;
+cla;
 plot(result.xs(),result.ys(),'k*-'); hold on
 plot([result.pose(5).x;result.pose(2).x],[result.pose(5).y;result.pose(2).y],'r-');
 marginals = graph.marginals(result);
diff --git a/matlab/examples/Pose3SLAMExample_circle.m b/matlab/examples/Pose3SLAMExample.m
similarity index 99%
rename from matlab/examples/Pose3SLAMExample_circle.m
rename to matlab/examples/Pose3SLAMExample.m
index 1c8e481ee..285701cff 100644
--- a/matlab/examples/Pose3SLAMExample_circle.m
+++ b/matlab/examples/Pose3SLAMExample.m
@@ -38,7 +38,7 @@ initial.insertPose(4, hexagon.pose(4).retract(s*randn(6,1)));
 initial.insertPose(5, hexagon.pose(5).retract(s*randn(6,1)));
 
 %% Plot Initial Estimate
-figure(1);clf
+cla
 plot3(initial.xs(),initial.ys(),initial.zs(),'g-*');
 
 %% optimize