diff --git a/internal/ceres/generate_template_specializations.py b/internal/ceres/generate_template_specializations.py
index 75c1464..5e91f8d 100644
--- a/internal/ceres/generate_template_specializations.py
+++ b/internal/ceres/generate_template_specializations.py
@@ -68,6 +68,7 @@
                    (2, 4, 9),
                    (2, 4, "Eigen::Dynamic"),
                    (2, "Eigen::Dynamic", "Eigen::Dynamic"),
+                   (3, 3, 3),
                    (4, 4, 2),
                    (4, 4, 3),
                    (4, 4, 4),
diff --git a/internal/ceres/generated/partitioned_matrix_view_3_3_3.cc b/internal/ceres/generated/partitioned_matrix_view_3_3_3.cc
new file mode 100644
index 0000000..d3b20be
--- /dev/null
+++ b/internal/ceres/generated/partitioned_matrix_view_3_3_3.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// 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_template_specializations.py.
+
+// 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<3, 3, 3>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
diff --git a/internal/ceres/generated/schur_eliminator_3_3_3.cc b/internal/ceres/generated/schur_eliminator_3_3_3.cc
new file mode 100644
index 0000000..1cbeadf
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_3_3_3.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2017 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// 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_template_specializations.py.
+
+// 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<3, 3, 3>;
+
+}  // 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 910f241..d7a998d 100644
--- a/internal/ceres/partitioned_matrix_view.cc
+++ b/internal/ceres/partitioned_matrix_view.cc
@@ -125,6 +125,11 @@
  if (options.row_block_size == 2){
    return new PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>(matrix, options.elimination_groups[0]);
  }
+ if ((options.row_block_size == 3) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 3)) {
+   return new PartitionedMatrixView<3, 3, 3>(matrix, options.elimination_groups[0]);
+ }
  if ((options.row_block_size == 4) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 2)) {
diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc
index beefa14..bc8ced4 100644
--- a/internal/ceres/schur_eliminator.cc
+++ b/internal/ceres/schur_eliminator.cc
@@ -124,6 +124,11 @@
  if (options.row_block_size == 2){
    return new SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>(options);
  }
+ if ((options.row_block_size == 3) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 3)) {
+   return new SchurEliminator<3, 3, 3>(options);
+ }
  if ((options.row_block_size == 4) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 2)) {
diff --git a/internal/ceres/schur_templates.cc b/internal/ceres/schur_templates.cc
index 64bc9f3..0152861 100644
--- a/internal/ceres/schur_templates.cc
+++ b/internal/ceres/schur_templates.cc
@@ -179,6 +179,14 @@
    *f_block_size = Eigen::Dynamic;
   return;
  }
+ if ((options.row_block_size == 3) &&
+     (options.e_block_size == 3) &&
+     (options.f_block_size == 3)) {
+   *row_block_size = 3;
+   *e_block_size = 3;
+   *f_block_size = 3;
+  return;
+ }
  if ((options.row_block_size == 4) &&
      (options.e_block_size == 4) &&
      (options.f_block_size == 2)) {