diff --git a/examples/PlanarSLAMExample_easy.cpp b/examples/PlanarSLAMExample.cpp
similarity index 100%
rename from examples/PlanarSLAMExample_easy.cpp
rename to examples/PlanarSLAMExample.cpp
diff --git a/examples/Pose2SLAMExample_easy.cpp b/examples/Pose2SLAMExample.cpp
similarity index 98%
rename from examples/Pose2SLAMExample_easy.cpp
rename to examples/Pose2SLAMExample.cpp
index b6507d7fc..851363b2e 100644
--- a/examples/Pose2SLAMExample_easy.cpp
+++ b/examples/Pose2SLAMExample.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file Pose2SLAMExample_easy.cpp
+ * @file Pose2SLAMExample.cpp
  * @brief A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h
  * @date Oct 21, 2010
  * @author Yong Dian Jian
diff --git a/examples/Pose2SLAMwSPCG_easy.cpp b/examples/Pose2SLAMwSPCG.cpp
similarity index 100%
rename from examples/Pose2SLAMwSPCG_easy.cpp
rename to examples/Pose2SLAMwSPCG.cpp
diff --git a/examples/README b/examples/README
index 3c0c90850..8558ea62d 100644
--- a/examples/README
+++ b/examples/README
@@ -11,10 +11,11 @@ errorStateKalmanFilter: simple 1D example of a moving target measured by a accel
 
 2D Pose SLAM 
 ============
-Pose2SLAMExample_easy: A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h
+LocalizationExample.cpp: modeling robot motion
+LocalizationExample2.cpp: example with GPS like measurements
+Pose2SLAMExample: A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h
 Pose2SLAMExample_advanced: same, but uses an Optimizer object
-Pose2SLAMwSPCG_easy: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface
-Pose2SLAMwSPCG_advanced: solve a simple 3 by 3 grid of Pose2 SLAM problem by using advanced SPCG interface
+Pose2SLAMwSPCG: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy SPCG interface
 
 Planar SLAM with landmarks
 ==========================
@@ -23,6 +24,7 @@ PlanarSLAMSelfContained_advanced: simple robotics example with all typedefs inte
 
 Visual SLAM
 ===========
+CameraResectioning.cpp: An example of gtsam for solving the camera resectioning problem
 The directory vSLAMexample includes 2 simple examples using GTSAM:
 - vSFMexample using visualSLAM in for structure-from-motion (SFM), and
 - vISAMexample using visualSLAM and ISAM for incremental SLAM updates