diff --git a/gtsam/sfm/TranslationRecovery.cpp b/gtsam/sfm/TranslationRecovery.cpp
index 810fe7de9..8f1108806 100644
--- a/gtsam/sfm/TranslationRecovery.cpp
+++ b/gtsam/sfm/TranslationRecovery.cpp
@@ -134,6 +134,7 @@ void TranslationRecovery::addPrior(
 
 Values TranslationRecovery::initializeRandomly(
     const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+    const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
     std::mt19937 *rng, const Values &initialValues) const {
   uniform_real_distribution<double> randomVal(-1, 1);
   // Create a lambda expression that checks whether value exists and randomly
@@ -155,14 +156,19 @@ Values TranslationRecovery::initializeRandomly(
     insert(edge.key1());
     insert(edge.key2());
   }
+  for (auto edge : betweenTranslations) {
+    insert(edge.key1());
+    insert(edge.key2());
+  }
   return initial;
 }
 
 Values TranslationRecovery::initializeRandomly(
     const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+    const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
     const Values &initialValues) const {
-  return initializeRandomly(relativeTranslations, &kRandomNumberGenerator,
-                            initialValues);
+  return initializeRandomly(relativeTranslations, betweenTranslations,
+                            &kRandomNumberGenerator, initialValues);
 }
 
 Values TranslationRecovery::run(
@@ -187,8 +193,8 @@ Values TranslationRecovery::run(
            &graph);
 
   // Uses initial values from params if provided.
-  Values initial =
-      initializeRandomly(nonzeroRelativeTranslations, initialValues);
+  Values initial = initializeRandomly(
+      nonzeroRelativeTranslations, nonzeroBetweenTranslations, initialValues);
 
   // If there are no valid edges, but zero-distance edges exist, initialize one
   // of the nodes in a connected component of zero-distance edges.
diff --git a/gtsam/sfm/TranslationRecovery.h b/gtsam/sfm/TranslationRecovery.h
index 7863f5133..6ccc39ddb 100644
--- a/gtsam/sfm/TranslationRecovery.h
+++ b/gtsam/sfm/TranslationRecovery.h
@@ -112,12 +112,15 @@ class TranslationRecovery {
    *
    * @param relativeTranslations unit translation directions between
    * translations to be estimated
+   * @param betweenTranslations relative translations (with scale) between 2
+   * points in world coordinate frame known a priori.
    * @param rng random number generator
    * @param intialValues (optional) initial values from a prior
    * @return Values
    */
   Values initializeRandomly(
       const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+      const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
       std::mt19937 *rng, const Values &initialValues = Values()) const;
 
   /**
@@ -125,11 +128,14 @@ class TranslationRecovery {
    *
    * @param relativeTranslations unit translation directions between
    * translations to be estimated
+   * @param betweenTranslations relative translations (with scale) between 2
+   * points in world coordinate frame known a priori.
    * @param initialValues (optional) initial values from a prior
    * @return Values
    */
   Values initializeRandomly(
       const std::vector<BinaryMeasurement<Unit3>> &relativeTranslations,
+      const std::vector<BinaryMeasurement<Point3>> &betweenTranslations,
       const Values &initialValues = Values()) const;
 
   /**