diff --git a/Doxyfile b/Doxyfile
index dbefef329..1710d17cb 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -643,7 +643,8 @@ INPUT                  = gtsam/base \
                          gtsam/inference \
                          gtsam/linear \
                          gtsam/nonlinear \
-                         gtsam/slam
+                         gtsam/slam \
+                         gtsam
 
 # This tag can be used to specify the character encoding of the source files 
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is 
diff --git a/gtsam/groups.dox b/gtsam/groups.dox
new file mode 100644
index 000000000..6031b33bb
--- /dev/null
+++ b/gtsam/groups.dox
@@ -0,0 +1,14 @@
+/**
+
+\defgroup LinearSolving Solving of sparse linear systems with least-squares
+@{
+
+\defgroup Multifrontal Solving by multifrontal variable elimination (QR and Cholesky)
+@{ @}
+
+\defgroup Sequential Solving by sequential variable elimination (QR and Cholesky)
+@{ @}
+
+@}
+
+*/ 
\ No newline at end of file