diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 92d9ec0a3..f3f8a5c79 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -1279,5 +1279,11 @@ class BearingRange {
 
 typedef gtsam::BearingRange<gtsam::Pose2, gtsam::Point2, gtsam::Rot2, double>
     BearingRange2D;
+typedef gtsam::BearingRange<gtsam::Pose2, gtsam::Pose2, gtsam::Rot2, double>
+    BearingRangePose2;
+typedef gtsam::BearingRange<gtsam::Pose3, gtsam::Point3, gtsam::Unit3, double>
+    BearingRange3D;
+typedef gtsam::BearingRange<gtsam::Pose3, gtsam::Pose3, gtsam::Unit3, double>
+    BearingRangePose3;
 
 }  // namespace gtsam
diff --git a/gtsam/sam/sam.i b/gtsam/sam/sam.i
index 90c319ede..a46a6de9e 100644
--- a/gtsam/sam/sam.i
+++ b/gtsam/sam/sam.i
@@ -108,5 +108,11 @@ typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2,
 typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Pose2, gtsam::Rot2,
                                   double>
     BearingRangeFactorPose2;
+typedef gtsam::BearingRangeFactor<gtsam::Pose3, gtsam::Point3, gtsam::Unit3,
+                                  double>
+    BearingRangeFactor3D;
+typedef gtsam::BearingRangeFactor<gtsam::Pose3, gtsam::Pose3, gtsam::Unit3,
+                                  double>
+    BearingRangeFactorPose3;
 
 }  // namespace gtsam