diff --git a/gtsam/base/SymmetricBlockMatrix.h b/gtsam/base/SymmetricBlockMatrix.h
index 53a8912f67..1ec9a5ad36 100644
--- a/gtsam/base/SymmetricBlockMatrix.h
+++ b/gtsam/base/SymmetricBlockMatrix.h
@@ -76,7 +76,7 @@ namespace gtsam {
       blockStart_(0)
     {
       fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
-      matrix_.resize(variableColOffsets_.back(), variableColOffsets_.back());
+      matrix_.setZero(variableColOffsets_.back(), variableColOffsets_.back());
       assertInvariants();
     }
 
@@ -86,7 +86,7 @@ namespace gtsam {
       blockStart_(0)
     {
       fillOffsets(firstBlockDim, lastBlockDim, appendOneDimension);
-      matrix_.resize(variableColOffsets_.back(), variableColOffsets_.back());
+      matrix_.setZero(variableColOffsets_.back(), variableColOffsets_.back());
       assertInvariants();
     }
 
@@ -95,7 +95,7 @@ namespace gtsam {
     SymmetricBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix, bool appendOneDimension = false) :
       blockStart_(0)
     {
-      matrix_.resize(matrix.rows(), matrix.cols());
+      matrix_.setZero(matrix.rows(), matrix.cols());
       matrix_.triangularView<Eigen::Upper>() = matrix.triangularView<Eigen::Upper>();
       fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
       if(matrix_.rows() != matrix_.cols())
diff --git a/gtsam/geometry/tests/testLine3.cpp b/gtsam/geometry/tests/testLine3.cpp
index 9812c0c2d3..9ed12aef7d 100644
--- a/gtsam/geometry/tests/testLine3.cpp
+++ b/gtsam/geometry/tests/testLine3.cpp
@@ -2,10 +2,10 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/Line3.h>
-#include <gtsam/slam/expressions.h>
-#include <gtsam/slam/PriorFactor.h>
 #include <gtsam/nonlinear/ExpressionFactor.h>
 #include <gtsam/nonlinear/expressionTesting.h>
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/expressions.h>
 
 using namespace gtsam;
 
@@ -146,7 +146,7 @@ TEST(Line3, projection) {
   SharedNoiseModel model = noiseModel::Isotropic::Sigma(2, 0.1);
   Unit3_ projected_(wL_, &Line3::project);
   ExpressionFactor<Unit3> f(model, expected, projected_);
-  EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-7);
+  EXPECT_CORRECT_FACTOR_JACOBIANS(f, val, 1e-5, 1e-5);
 }
 
 int main() {
diff --git a/gtsam/navigation/tests/testAHRSFactor.cpp b/gtsam/navigation/tests/testAHRSFactor.cpp
index dd216ce342..74acf69da2 100644
--- a/gtsam/navigation/tests/testAHRSFactor.cpp
+++ b/gtsam/navigation/tests/testAHRSFactor.cpp
@@ -342,7 +342,7 @@ TEST( AHRSFactor, fistOrderExponential ) {
 //******************************************************************************
 TEST( AHRSFactor, FirstOrderPreIntegratedMeasurements ) {
   // Linearization point
-  Vector3 bias; ///< Current estimate of rotation rate bias
+  Vector3 bias = Vector3::Zero(); ///< Current estimate of rotation rate bias
 
   Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.1, 0.1)), Point3(1, 0, 1));