diff --git a/examples/README b/examples/README
index 2342bae7b..a27b6b7ed 100644
--- a/examples/README
+++ b/examples/README
@@ -2,6 +2,13 @@ This directory contains a number of exapmples that illustrate the use of GTSAM:
 
 SimpleRotation:  a super-simple example of optimizing a single rotation according to a single prior
 
+Kalman Filter Examples
+======================
+elaboratePoint2KalmanFilter: simple linear Kalman filter on a moving 2D point, but done using factor graphs
+easyPoint2KalmanFilter: uses the cool generic templated Kalman filter class to do the same
+errorStateKalmanFilter: simple 1D example of a moving target measured by a accelerometer, incl. drift-rate bias
+fullStateKalmanFilter: simple 1D example with a full-state filter
+
 2D Pose SLAM 
 ============
 Pose2SLAMExample_easy: A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h
diff --git a/examples/elaboratePoint2KalmanFilter.cpp b/examples/elaboratePoint2KalmanFilter.cpp
new file mode 100644
index 000000000..724fab387
--- /dev/null
+++ b/examples/elaboratePoint2KalmanFilter.cpp
@@ -0,0 +1,63 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/*
+ * Point2KalmanFilter.cpp
+ *
+ * simple linear Kalman filter on a moving 2D point, but done using factor graphs
+ *
+ *  Created on: Aug 19, 2011
+ *  @Author: Frank Dellaert
+ *  @Author: Stephen Williams
+ */
+
+using namespace std;
+using namespace gtsam;
+
+int main() {
+
+	// [code below basically does SRIF with LDL]
+
+	// Ground truth example
+	// Start at origin, move to the right (x-axis): 0,0  0,1  0,2
+	// Motion model is just moving to the right (x'-x)^2
+	// Measurements are GPS like, (x-z)^2, where z is a 2D measurement
+	// i.e., we should get 0,0  0,1  0,2 if there is no noise
+
+	// Init state x1 (2D point) at origin, i.e., Bayes net P(x1)
+
+	// Update using z1, P(x1|z1) ~ P(x1)P(z1|x1) ~ f1(x1) f2(x1;z1)
+	// Hence, make small factor graph f1-(x1)-f2
+	// Eliminate to get Bayes net P(x1|z1)
+
+	// Predict x2 P(x2|z1) = \int P(x2|x1) P(x1|z1)
+	// Make a small factor graph f1-(x1)-f2-(x2)
+	// where factor f1 is just the posterior from time t1, P(x1|z1)
+	// where factor f2 is the motion model (x'-x)^2
+	// Now, eliminate this in order x1, x2, to get Bayes net P(x1|x2)P(x2)
+	// so, we just keep the root of the Bayes net, P(x2) which is really P(x2|z1)
+
+	// Update using z2, yielding Bayes net P(x2|z1,z2)
+	// repeat....
+
+	// Combined predict-update is more efficient
+	// Predict x3, update using z3
+	// P(x3|z1,z2,z3) ~ P(z3|x3) \int_{x2} P(x3|x2) P(x2|z1,z2)
+	// form factor graph f3-(x3)-f2-(x2)-f1
+	// where f3 ~ P(z3|x3), f2 ~ P(x3|x2), and f1 ~ P(x2|z1,z2)
+	// Now, eliminate this in order x2, x3, to get Bayes net P(x2|x3)P(x3)
+	// and again, just keep the root of the Bayes net, P(x3) which is really P(x3|z1,z2,z3)
+
+
+	// print out posterior on x3
+
+
+}