diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index 79c3977cd..8784d0eb8 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -155,7 +155,13 @@ private:
   template<class ARCHIVE>
     void serialize(ARCHIVE & ar, const unsigned int version) {
       ar & BOOST_SERIALIZATION_NVP(p_);
-      ar & BOOST_SERIALIZATION_NVP(B_);
+      // homebrew serialize Eigen Matrix
+      ar & boost::serialization::make_nvp("B11", (*B_)(0,0));
+      ar & boost::serialization::make_nvp("B12", (*B_)(0,1));
+      ar & boost::serialization::make_nvp("B21", (*B_)(1,0));
+      ar & boost::serialization::make_nvp("B22", (*B_)(1,1));
+      ar & boost::serialization::make_nvp("B31", (*B_)(2,0));
+      ar & boost::serialization::make_nvp("B32", (*B_)(2,1));
     }
 
   /// @}
diff --git a/gtsam/geometry/tests/testSerializationGeometry.cpp b/gtsam/geometry/tests/testSerializationGeometry.cpp
index a7e792cb8..bbc8be1ad 100644
--- a/gtsam/geometry/tests/testSerializationGeometry.cpp
+++ b/gtsam/geometry/tests/testSerializationGeometry.cpp
@@ -19,6 +19,8 @@
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Pose2.h>
+#include <gtsam/geometry/Unit3.h>
+#include <gtsam/geometry/EssentialMatrix.h>
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/Cal3_S2Stereo.h>
 #include <gtsam/geometry/CalibratedCamera.h>
@@ -41,6 +43,9 @@ static Point3 pt3(1.0, 2.0, 3.0);
 static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
 static Pose3 pose3(rt3, pt3);
 
+static Unit3 unit3(1.0, 2.1, 3.4);
+static EssentialMatrix ematrix(rt3, unit3);
+
 static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5);
 static Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0);
 static Cal3Bundler cal3(1.0, 2.0, 3.0);
@@ -59,6 +64,9 @@ TEST (Serialization, text_geometry) {
   EXPECT(equalsObj<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
   EXPECT(equalsObj<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
 
+  EXPECT(equalsObj<gtsam::Unit3>(Unit3(1.0, 2.1, 3.4)));
+  EXPECT(equalsObj<gtsam::EssentialMatrix>(EssentialMatrix(rt3, unit3)));
+
   EXPECT(equalsObj(pt3));
   EXPECT(equalsObj<gtsam::Rot3>(rt3));
   EXPECT(equalsObj<gtsam::Pose3>(Pose3(rt3, pt3)));
@@ -81,6 +89,9 @@ TEST (Serialization, xml_geometry) {
   EXPECT(equalsXML<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
   EXPECT(equalsXML<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
 
+  EXPECT(equalsXML<gtsam::Unit3>(Unit3(1.0, 2.1, 3.4)));
+  EXPECT(equalsXML<gtsam::EssentialMatrix>(EssentialMatrix(rt3, unit3)));
+
   EXPECT(equalsXML<gtsam::Point3>(pt3));
   EXPECT(equalsXML<gtsam::Rot3>(rt3));
   EXPECT(equalsXML<gtsam::Pose3>(Pose3(rt3, pt3)));
@@ -102,6 +113,9 @@ TEST (Serialization, binary_geometry) {
   EXPECT(equalsBinary<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
   EXPECT(equalsBinary<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
 
+  EXPECT(equalsBinary<gtsam::Unit3>(Unit3(1.0, 2.1, 3.4)));
+  EXPECT(equalsBinary<gtsam::EssentialMatrix>(EssentialMatrix(rt3, unit3)));
+
   EXPECT(equalsBinary<gtsam::Point3>(pt3));
   EXPECT(equalsBinary<gtsam::Rot3>(rt3));
   EXPECT(equalsBinary<gtsam::Pose3>(Pose3(rt3, pt3)));