diff --git a/gtsam/basis/Basis.h b/gtsam/basis/Basis.h
index 5664fe02a..d517078f1 100644
--- a/gtsam/basis/Basis.h
+++ b/gtsam/basis/Basis.h
@@ -79,7 +79,7 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
  * @param w The weights of the polynomial.
  * @return Mx(M*N) kronecker product [w(0)*I, w(1)*I, ..., w(N-1)*I]
  *
- * @ingroup Basis
+ * @ingroup basis
  */
 template <size_t M>
 Matrix kroneckerProductIdentity(const Weights& w) {
@@ -94,7 +94,7 @@ Matrix kroneckerProductIdentity(const Weights& w) {
 
 /**
  * CRTP Base class for function bases
- *  @ingroup Basis
+ *  @ingroup basis
  */
 template <typename DERIVED>
 class Basis {
diff --git a/gtsam/basis/BasisFactors.h b/gtsam/basis/BasisFactors.h
index e141592d6..0e42a8866 100644
--- a/gtsam/basis/BasisFactors.h
+++ b/gtsam/basis/BasisFactors.h
@@ -33,7 +33,7 @@ namespace gtsam {
  * Example, degree 8 Chebyshev polynomial measured at x=0.5:
  *  EvaluationFactor<Chebyshev2> factor(key, measured, model, 8, 0.5);
  *
- * @ingroup Basis
+ * @ingroup basis
  */
 template <class BASIS>
 class EvaluationFactor : public FunctorizedFactor<double, Vector> {
@@ -89,7 +89,7 @@ class EvaluationFactor : public FunctorizedFactor<double, Vector> {
  * @param BASIS: The basis class to use e.g. Chebyshev2
  * @param M: Size of the evaluated state vector.
  *
- * @ingroup Basis
+ * @ingroup basis
  */
 template <class BASIS, int M>
 class VectorEvaluationFactor
@@ -154,7 +154,7 @@ class VectorEvaluationFactor
  *                                               N, i, t, a, b);
  *  where N is the degree and i is the component index.
  *
- * @ingroup Basis
+ * @ingroup basis
  */
 template <class BASIS, size_t P>
 class VectorComponentFactor