diff --git a/internal/ceres/generate_eliminator_specialization.py b/internal/ceres/generate_eliminator_specialization.py
index 2ec3c5b..e6798f3 100644
--- a/internal/ceres/generate_eliminator_specialization.py
+++ b/internal/ceres/generate_eliminator_specialization.py
@@ -55,6 +55,7 @@
                    (2, 2, "Eigen::Dynamic"),
                    (2, 3, 3),
                    (2, 3, 4),
+                   (2, 3, 6),
                    (2, 3, 9),
                    (2, 3, "Eigen::Dynamic"),
                    (2, 4, 3),
diff --git a/internal/ceres/generate_partitioned_matrix_view_specializations.py b/internal/ceres/generate_partitioned_matrix_view_specializations.py
index c9bdf23..6075210 100644
--- a/internal/ceres/generate_partitioned_matrix_view_specializations.py
+++ b/internal/ceres/generate_partitioned_matrix_view_specializations.py
@@ -53,6 +53,7 @@
                    (2, 2, "Eigen::Dynamic"),
                    (2, 3, 3),
                    (2, 3, 4),
+                   (2, 3, 6),
                    (2, 3, 9),
                    (2, 3, "Eigen::Dynamic"),
                    (2, 4, 3),
diff --git a/internal/ceres/generated/partitioned_matrix_view_2_3_6.cc b/internal/ceres/generated/partitioned_matrix_view_2_3_6.cc
new file mode 100644
index 0000000..dd0b3cd
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_2_3_6.cc
@@ -0,0 +1,59 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2013 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of PartitionedMatrixView.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_partitioned_matrix_view_specializations.py.
+// Editing it manually is not recommended.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/partitioned_matrix_view_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class PartitionedMatrixView<2, 3, 6>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_2_3_6.cc b/internal/ceres/generated/schur_eliminator_2_3_6.cc
new file mode 100644
index 0000000..67eb699
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_3_6.cc
@@ -0,0 +1,59 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specialization.py.
+// Editing it manually is not recommended.
+
+// This include must come before any #ifndef check on Ceres compile options.
+#include "ceres/internal/port.h"
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 6>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/partitioned_matrix_view.cc b/internal/ceres/partitioned_matrix_view.cc
index d745a9b..4ed20f3 100644
--- a/internal/ceres/partitioned_matrix_view.cc
+++ b/internal/ceres/partitioned_matrix_view.cc
@@ -89,6 +89,12 @@
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 3) &&
+      (options.f_block_size == 6)) {
+    return new PartitionedMatrixView<2, 3, 6>(
+                 matrix, options.elimination_groups[0]);
+  }
+  if ((options.row_block_size == 2) &&
+      (options.e_block_size == 3) &&
       (options.f_block_size == 9)) {
     return new PartitionedMatrixView<2, 3, 9>(
                  matrix, options.elimination_groups[0]);
diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc
index 4d9b175..15b208c 100644
--- a/internal/ceres/schur_eliminator.cc
+++ b/internal/ceres/schur_eliminator.cc
@@ -82,6 +82,11 @@
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 3) &&
+      (options.f_block_size == 6)) {
+    return new SchurEliminator<2, 3, 6>(options);
+  }
+  if ((options.row_block_size == 2) &&
+      (options.e_block_size == 3) &&
       (options.f_block_size == 9)) {
     return new SchurEliminator<2, 3, 9>(options);
   }
diff --git a/jni/Android.mk b/jni/Android.mk
index d64f78b..ec59f52 100644
--- a/jni/Android.mk
+++ b/jni/Android.mk
@@ -191,6 +191,7 @@
                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
+                   $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_6.cc \
                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
                    $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
@@ -210,6 +211,7 @@
                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_2_d.cc \
                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_3.cc \
                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_4.cc \
+                   $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_6.cc \
                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_9.cc \
                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_3_d.cc \
                    $(CERES_SRC_PATH)/generated/partitioned_matrix_view_2_4_3.cc \