diff --git a/gtsam/base/LieVector.h b/gtsam/base/LieVector.h
index a8bfe3007..8286c95a6 100644
--- a/gtsam/base/LieVector.h
+++ b/gtsam/base/LieVector.h
@@ -128,6 +128,19 @@ private:
     ar & boost::serialization::make_nvp("Vector",
        boost::serialization::base_object<Vector>(*this));
   }
-
 };
+
+// Define GTSAM traits
+namespace traits {
+
+template<>
+struct is_manifold<LieVector> : public std::true_type {
+};
+
+template<>
+struct dimension<LieVector> : public Dynamic {
+};
+
+}
+
 } // \namespace gtsam
diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index eacbf7053..ad8e7b904 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -126,10 +126,6 @@ public:
 
 private:
 
-  /// @}
-  /// @name Advanced Interface
-  /// @{
-
   /** Serialization function */
   friend class boost::serialization::access;
   template<class Archive>
@@ -140,9 +136,25 @@ private:
     ar & BOOST_SERIALIZATION_NVP(xi_);
   }
 
-  /// @}
+};
 
+// Define GTSAM traits
+namespace traits {
+
+template<>
+struct is_manifold<Cal3Unified> : public std::true_type {
+};
+
+template<>
+struct dimension<Cal3Unified> : public std::integral_constant<int, 10> {
+};
+
+template<>
+struct zero<Cal3Unified> {
+  static Cal3Unified value() { return Cal3Unified();}
 };
 
 }
 
+}
+
diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index 32b966261..a973f9cec 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -196,5 +196,23 @@ private:
 
 };
 
+// Define GTSAM traits
+namespace traits {
+
+template<>
+struct is_manifold<EssentialMatrix> : public std::true_type {
+};
+
+template<>
+struct dimension<EssentialMatrix> : public std::integral_constant<int, 5> {
+};
+
+template<>
+struct zero<EssentialMatrix> {
+  static EssentialMatrix value() { return EssentialMatrix();}
+};
+
+}
+
 } // gtsam
 
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index d121beb12..4142d4473 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -230,10 +230,6 @@ namespace gtsam {
     /** return 2*2 transpose (inverse) rotation matrix   */
     Matrix transpose() const;
 
-    /// @}
-    /// @name Advanced Interface
-    /// @{
-
   private:
     /** Serialization function */
     friend class boost::serialization::access;
@@ -245,8 +241,22 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(s_);
     }
 
-    /// @}
-
   };
 
+  // Define GTSAM traits
+  namespace traits {
+
+  template<>
+  struct is_group<Rot2> : public std::true_type {
+  };
+
+  template<>
+  struct is_manifold<Rot2> : public std::true_type {
+  };
+
+  template<>
+  struct dimension<Rot2> : public std::integral_constant<int, 1> {
+  };
+
+  }
 } // gtsam
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index 70917b2c4..82914f6ab 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -155,4 +155,22 @@ private:
 
 };
 
+// Define GTSAM traits
+namespace traits {
+
+template<>
+struct is_manifold<StereoCamera> : public std::true_type {
+};
+
+template<>
+struct dimension<StereoCamera> : public std::integral_constant<int, 6> {
+};
+
+template<>
+struct zero<StereoCamera> {
+  static StereoCamera value() { return StereoCamera();}
+};
+
+}
+
 }
diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index 8ce2e49bf..000f7d16f 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -173,4 +173,20 @@ namespace gtsam {
 
   };
 
+  // Define GTSAM traits
+  namespace traits {
+
+  template<>
+  struct is_group<StereoPoint2> : public std::true_type {
+  };
+
+  template<>
+  struct is_manifold<StereoPoint2> : public std::true_type {
+  };
+
+  template<>
+  struct dimension<StereoPoint2> : public std::integral_constant<int, 3> {
+  };
+
+  }
 }
diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index 8d2c024c0..bb2ee318a 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -156,5 +156,25 @@ private:
 
 };
 
+// Define GTSAM traits
+namespace traits {
+
+template<>
+struct is_manifold<Unit3> : public std::true_type {
+};
+
+template<>
+struct dimension<Unit3> : public std::integral_constant<int, 2> {
+};
+
+template<>
+struct zero<Unit3> {
+  static Unit3 value() {
+    return Unit3();
+  }
+};
+
+}
+
 } // namespace gtsam
 
diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h
index 32911e589..8301a0a6b 100644
--- a/gtsam/navigation/ImuBias.h
+++ b/gtsam/navigation/ImuBias.h
@@ -218,6 +218,23 @@ namespace imuBias {
 
 } // namespace ImuBias
 
+// Define GTSAM traits
+namespace traits {
+
+template<>
+struct is_group<imuBias::ConstantBias> : public std::true_type {
+};
+
+template<>
+struct is_manifold<imuBias::ConstantBias> : public std::true_type {
+};
+
+template<>
+struct dimension<imuBias::ConstantBias> : public std::integral_constant<int, 6> {
+};
+
+}
+
 } // namespace gtsam
 
 
diff --git a/gtsam_unstable/dynamics/PoseRTV.h b/gtsam_unstable/dynamics/PoseRTV.h
index 51e09ca5f..80729e8a2 100644
--- a/gtsam_unstable/dynamics/PoseRTV.h
+++ b/gtsam_unstable/dynamics/PoseRTV.h
@@ -183,4 +183,23 @@ private:
   }
 };
 
+// Define GTSAM traits
+namespace traits {
+
+template<>
+struct is_manifold<PoseRTV> : public std::true_type {
+};
+
+template<>
+struct dimension<PoseRTV> : public std::integral_constant<int, 9> {
+};
+
+template<>
+struct zero<PoseRTV> {
+  static PoseRTV value() {
+    return PoseRTV();
+  }
+};
+
+}
 } // \namespace gtsam