diff --git a/gtsam/basis/Chebyshev.h b/gtsam/basis/Chebyshev.h
index 25bd69698..1c16c47bf 100644
--- a/gtsam/basis/Chebyshev.h
+++ b/gtsam/basis/Chebyshev.h
@@ -34,11 +34,6 @@ struct GTSAM_EXPORT Chebyshev1Basis : Basis<Chebyshev1Basis> {
 
   Parameters parameters_;
 
-  /// Return a zero initialized Parameter matrix.
-  static Parameters ParameterMatrix(size_t N) {
-    return Parameters::Zero(N);
-  }
-
   /**
    * @brief Evaluate Chebyshev Weights on [-1,1] at x up to order N-1 (N values)
    *
@@ -85,11 +80,6 @@ struct GTSAM_EXPORT Chebyshev1Basis : Basis<Chebyshev1Basis> {
 struct GTSAM_EXPORT Chebyshev2Basis : Basis<Chebyshev2Basis> {
   using Parameters = Eigen::Matrix<double, -1, 1 /*Nx1*/>;
 
-  /// Return a zero initialized Parameter matrix.
-  static Parameters ParameterMatrix(size_t N) {
-    return Parameters::Zero(N);
-  }
-
   /**
    *  Evaluate Chebyshev Weights on [-1,1] at any x up to order N-1 (N values).
    *
diff --git a/gtsam/basis/Chebyshev2.h b/gtsam/basis/Chebyshev2.h
index 0c253fb75..6d0bc7f6b 100644
--- a/gtsam/basis/Chebyshev2.h
+++ b/gtsam/basis/Chebyshev2.h
@@ -86,11 +86,6 @@ class GTSAM_EXPORT Chebyshev2 : public Basis<Chebyshev2> {
     return points;
   }
 
-  /// Return a zero initialized Parameter matrix.
-  static Parameters ParameterMatrix(size_t N) {
-    return Parameters::Zero(N);
-  }
-
   /**
    * Evaluate Chebyshev Weights on [-1,1] at any x up to order N-1 (N values)
    * These weights implement barycentric interpolation at a specific x.
diff --git a/gtsam/basis/FitBasis.h b/gtsam/basis/FitBasis.h
index 6e7e809c7..f5cb99bd7 100644
--- a/gtsam/basis/FitBasis.h
+++ b/gtsam/basis/FitBasis.h
@@ -74,7 +74,7 @@ class FitBasis {
       const Sequence& sequence, const SharedNoiseModel& model, size_t N) {
     NonlinearFactorGraph graph = NonlinearGraph(sequence, model, N);
     Values values;
-    values.insert<Parameters>(0, Basis::ParameterMatrix(N));
+    values.insert<Parameters>(0, Parameters::Zero(N));
     GaussianFactorGraph::shared_ptr gfg = graph.linearize(values);
     return gfg;
   }
diff --git a/gtsam/basis/Fourier.h b/gtsam/basis/Fourier.h
index 65d141561..eb259bd8a 100644
--- a/gtsam/basis/Fourier.h
+++ b/gtsam/basis/Fourier.h
@@ -51,11 +51,6 @@ class FourierBasis : public Basis<FourierBasis> {
     return b;
   }
 
-  /// Return a zero initialized Parameter matrix.
-  static Parameters ParameterMatrix(size_t N) {
-    return Parameters::Zero(N);
-  }
-
   /**
    * @brief Evaluate Real Fourier Weights of size N in interval [a, b],
    *        e.g. N=5 yields bases: 1, cos(x), sin(x), cos(2*x), sin(2*x)