diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py
index df9839fb0..3e2899db0 100644
--- a/python/gtsam/__init__.py
+++ b/python/gtsam/__init__.py
@@ -1,2 +1,3 @@
+import registernumpyeigen
 import noiseModel
 import geometry
diff --git a/python/gtsam/registernumpyeigen/.gitignore b/python/gtsam/registernumpyeigen/.gitignore
new file mode 100644
index 000000000..7ed4e4844
--- /dev/null
+++ b/python/gtsam/registernumpyeigen/.gitignore
@@ -0,0 +1 @@
+/libregisternumpyeigen_python.so
diff --git a/python/gtsam/registernumpyeigen/__init__.py b/python/gtsam/registernumpyeigen/__init__.py
new file mode 100644
index 000000000..ac6856e8c
--- /dev/null
+++ b/python/gtsam/registernumpyeigen/__init__.py
@@ -0,0 +1 @@
+from libregisternumpyeigen_python import *
\ No newline at end of file
diff --git a/python/handwritten/geometry_python.cpp b/python/handwritten/geometry_python.cpp
index 9e6a9e55c..61f1e3ee7 100644
--- a/python/handwritten/geometry_python.cpp
+++ b/python/handwritten/geometry_python.cpp
@@ -47,30 +47,6 @@ bool  (Pose3::*equals_0)(const gtsam::Pose3&, double) const = &Pose3::equals;
 BOOST_PYTHON_MODULE(libgeometry_python)
 {
 
-// NOTE: Don't know if it's really necessary to register the matrices convertion here. 
-import_array(); 
-NumpyEigenConverter<Vector>::register_converter();
-NumpyEigenConverter<Vector1>::register_converter();
-NumpyEigenConverter<Vector2>::register_converter();
-NumpyEigenConverter<Vector3>::register_converter();
-NumpyEigenConverter<Vector4>::register_converter();
-NumpyEigenConverter<Vector5>::register_converter();
-NumpyEigenConverter<Vector6>::register_converter();
-NumpyEigenConverter<Vector7>::register_converter();
-NumpyEigenConverter<Vector8>::register_converter();
-NumpyEigenConverter<Vector9>::register_converter();
-NumpyEigenConverter<Vector10>::register_converter();
-
-NumpyEigenConverter<Matrix>::register_converter();
-NumpyEigenConverter<Matrix2>::register_converter();
-NumpyEigenConverter<Matrix3>::register_converter();
-NumpyEigenConverter<Matrix4>::register_converter();
-NumpyEigenConverter<Matrix5>::register_converter();
-NumpyEigenConverter<Matrix6>::register_converter();
-NumpyEigenConverter<Matrix7>::register_converter();
-NumpyEigenConverter<Matrix8>::register_converter();
-NumpyEigenConverter<Matrix9>::register_converter();
-
 class_<Point3>("Point3")
   .def(init<>())
   .def(init<double,double,double>())
diff --git a/python/handwritten/noiseModel_python.cpp b/python/handwritten/noiseModel_python.cpp
index f33bc0e8b..34ec8393f 100644
--- a/python/handwritten/noiseModel_python.cpp
+++ b/python/handwritten/noiseModel_python.cpp
@@ -74,30 +74,6 @@ struct BaseWrap : Base, wrapper<Base>
 BOOST_PYTHON_MODULE(libnoiseModel_python)
 {
 
-// NOTE: Don't know if it's really necessary to register the matrices convertion here. 
-import_array(); 
-NumpyEigenConverter<Vector>::register_converter();
-NumpyEigenConverter<Vector1>::register_converter();
-NumpyEigenConverter<Vector2>::register_converter();
-NumpyEigenConverter<Vector3>::register_converter();
-NumpyEigenConverter<Vector4>::register_converter();
-NumpyEigenConverter<Vector5>::register_converter();
-NumpyEigenConverter<Vector6>::register_converter();
-NumpyEigenConverter<Vector7>::register_converter();
-NumpyEigenConverter<Vector8>::register_converter();
-NumpyEigenConverter<Vector9>::register_converter();
-NumpyEigenConverter<Vector10>::register_converter();
-
-NumpyEigenConverter<Matrix>::register_converter();
-NumpyEigenConverter<Matrix2>::register_converter();
-NumpyEigenConverter<Matrix3>::register_converter();
-NumpyEigenConverter<Matrix4>::register_converter();
-NumpyEigenConverter<Matrix5>::register_converter();
-NumpyEigenConverter<Matrix6>::register_converter();
-NumpyEigenConverter<Matrix7>::register_converter();
-NumpyEigenConverter<Matrix8>::register_converter();
-NumpyEigenConverter<Matrix9>::register_converter();
-
 class_<BaseWrap,boost::noncopyable>("Base")
   .def("print", pure_virtual(&Base::print))
 ;
diff --git a/python/handwritten/registernumpyeigen_python.cpp b/python/handwritten/registernumpyeigen_python.cpp
new file mode 100644
index 000000000..cb8980494
--- /dev/null
+++ b/python/handwritten/registernumpyeigen_python.cpp
@@ -0,0 +1,54 @@
+/* ----------------------------------------------------------------------------
+
+ * 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
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file libregisternumpyeigen_python.cpp
+ * @brief register conversion matrix between numpy and Eigen
+ * @author Ellon Paiva Mendes (LAAS-CNRS)
+ **/
+
+ #include <boost/python.hpp>
+
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
+#include <gtsam/base/Matrix.h>
+#include <gtsam/base/Vector.h>
+
+using namespace boost::python;
+using namespace gtsam;
+
+BOOST_PYTHON_MODULE(libregisternumpyeigen_python)
+{
+
+import_array();
+NumpyEigenConverter<Vector>::register_converter();
+NumpyEigenConverter<Vector1>::register_converter();
+NumpyEigenConverter<Vector2>::register_converter();
+NumpyEigenConverter<Vector3>::register_converter();
+NumpyEigenConverter<Vector4>::register_converter();
+NumpyEigenConverter<Vector5>::register_converter();
+NumpyEigenConverter<Vector6>::register_converter();
+NumpyEigenConverter<Vector7>::register_converter();
+NumpyEigenConverter<Vector8>::register_converter();
+NumpyEigenConverter<Vector9>::register_converter();
+NumpyEigenConverter<Vector10>::register_converter();
+
+NumpyEigenConverter<Matrix>::register_converter();
+NumpyEigenConverter<Matrix2>::register_converter();
+NumpyEigenConverter<Matrix3>::register_converter();
+NumpyEigenConverter<Matrix4>::register_converter();
+NumpyEigenConverter<Matrix5>::register_converter();
+NumpyEigenConverter<Matrix6>::register_converter();
+NumpyEigenConverter<Matrix7>::register_converter();
+NumpyEigenConverter<Matrix8>::register_converter();
+NumpyEigenConverter<Matrix9>::register_converter();
+
+}