diff --git a/matlab/circlePose2.m b/matlab/circlePose2.m
new file mode 100644
index 000000000..4da70f9bf
--- /dev/null
+++ b/matlab/circlePose2.m
@@ -0,0 +1,19 @@
+function values = circlePose2(numPoses, radius, symbolChar)
+% circlePose2: generate a set of poses in a circle. This function
+% returns those poses inside a gtsam.Values object, with sequential
+% keys starting from 1. An optional character may be provided, which
+% will be stored in the msb of each key (i.e. gtsam.Symbol).
+
+if nargin<3,symbolChar=0x00;end
+if nargin<2,radius=1.0;end
+if nargin<1,numPoses=8;end
+
+values = gtsam.Values;
+theta = 0.0;
+dtheta = 2*pi()/numPoses;
+for i = 1:numPoses
+    key = gtsam.Symbol(symbolChar, i);
+    pose = gtsam.Pose2(radius*cos(theta), radius*sin(theta), pi()/2 + theta);
+    values.insert(key, pose);
+    theta = theta + dtheta;
+end
diff --git a/matlab/circlePose3.m b/matlab/circlePose3.m
new file mode 100644
index 000000000..bd102ad78
--- /dev/null
+++ b/matlab/circlePose3.m
@@ -0,0 +1,29 @@
+function values = circlePose2(numPoses, radius, symbolChar)
+% circlePose3: generate a set of poses in a circle. This function
+% returns those poses inside a gtsam.Values object, with sequential
+% keys starting from 1. An optional character may be provided, which
+% will be stored in the msb of each key (i.e. gtsam.Symbol).
+%
+% We use aerospace/navlab convention, X forward, Y right, Z down
+% First pose will be at (R,0,0)
+% ^y   ^ X
+% |    |
+% z-->xZ--> Y  (z pointing towards viewer, Z pointing away from viewer)
+% Vehicle at p0 is looking towards y axis (X-axis points towards world y)
+
+if nargin<3,symbolChar=0x00;end
+if nargin<2,radius=1.0;end
+if nargin<1,numPoses=8;end
+
+values = gtsam.Values;
+theta = 0.0;
+dtheta = 2*pi()/numPoses;
+gR0 = gtsam.Rot3(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1));
+for i = 1:numPoses
+    key = gtsam.Symbol(symbolChar, i);
+    gti = Point3(radius*cos(theta), radius*sin(theta), 0);
+    _0Ri = gtsam.Rot3.yaw(-theta);  % negative yaw goes counterclockwise, with Z down !
+    gTi = gtsam.Pose3(gR0.compose(_0Ri), gti);
+    values.insert(key, gTi);
+    theta = theta + dtheta;
+end