diff --git a/gtsam/slam/tests/testBetweenFactor.cpp b/gtsam/slam/tests/testBetweenFactor.cpp
new file mode 100644
index 000000000..415524071
--- /dev/null
+++ b/gtsam/slam/tests/testBetweenFactor.cpp
@@ -0,0 +1,49 @@
+/**
+ * @file 	 testBetweenFactor.cpp
+ * @brief  
+ * @author Duy-Nguyen Ta
+ * @date 	 Aug 2, 2013
+ */
+
+#include <gtsam/base/numericalDerivative.h>
+#include <gtsam/geometry/Rot3.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/slam/BetweenFactor.h>
+#include <CppUnitLite/TestHarness.h>
+
+using namespace gtsam;
+using namespace gtsam::symbol_shorthand;
+using namespace gtsam::noiseModel;
+
+TEST(BetweenFactor, Rot3) {
+  Rot3 R1 = Rot3::rodriguez(0.1, 0.2, 0.3);
+  Rot3 R2 = Rot3::rodriguez(0.4, 0.5, 0.6);
+  Rot3 noise = Rot3::rodriguez(0.01, 0.01, 0.01);
+  Rot3 measured = R1.between(R2)*noise  ;
+
+  BetweenFactor<Rot3> factor(R(1), R(2), measured, Isotropic::Sigma(3, 0.05));
+  Matrix actualH1, actualH2;
+  Vector actual = factor.evaluateError(R1, R2, actualH1, actualH2);
+
+  Vector expected = Rot3::Logmap(measured.inverse() * R1.between(R2));
+  CHECK(assert_equal(expected,actual, 1e-100));
+
+  Matrix numericalH1 = numericalDerivative21(
+      boost::function<Vector(const Rot3&, const Rot3&)>(boost::bind(
+          &BetweenFactor<Rot3>::evaluateError, factor, _1, _2, boost::none,
+          boost::none)), R1, R2, 1e-5);
+  CHECK(assert_equal(numericalH1,actualH1));
+
+  Matrix numericalH2 = numericalDerivative22(
+      boost::function<Vector(const Rot3&, const Rot3&)>(boost::bind(
+          &BetweenFactor<Rot3>::evaluateError, factor, _1, _2, boost::none,
+          boost::none)), R1, R2, 1e-5);
+  CHECK(assert_equal(numericalH2,actualH2));
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */