diff --git a/src/changes/changes.xml b/src/changes/changes.xml
index a0e254985..9a75f2ee1 100644
--- a/src/changes/changes.xml
+++ b/src/changes/changes.xml
@@ -55,6 +55,9 @@ This is a minor release: It combines bug fixes and new features.
   Changes to existing features were made in a backwards-compatible
   way such as to allow drop-in replacement of the v3.1[.1] JAR file.
 ">
+      <action dev="luc" type="fix" issue="MATH-570" due-to="Arne Plöse" >
+        ArrayFieldVector can now be constructed from any FieldVector.
+      </action>
       <action dev="luc" type="fix" issue="MATH-861" due-to="Sébastien Brisard" >
         Improved checking of null vector elements.
       </action>
diff --git a/src/main/java/org/apache/commons/math3/linear/ArrayFieldVector.java b/src/main/java/org/apache/commons/math3/linear/ArrayFieldVector.java
index 5592ba6fa..4c31bf35f 100644
--- a/src/main/java/org/apache/commons/math3/linear/ArrayFieldVector.java
+++ b/src/main/java/org/apache/commons/math3/linear/ArrayFieldVector.java
@@ -269,15 +269,12 @@ public class ArrayFieldVector<T extends FieldElement<T>> implements FieldVector<
      * @param v2 Second vector (will be put at back of the new vector).
      * @throws NullArgumentException if {@code v1} or {@code v2} is
      * {@code null}.
+     * @deprecated as of 3.2, replaced by {@link #ArrayFieldVector(FieldVector, FieldVector)}
      */
+    @Deprecated
     public ArrayFieldVector(ArrayFieldVector<T> v1, ArrayFieldVector<T> v2)
             throws NullArgumentException {
-        MathUtils.checkNotNull(v1);
-        MathUtils.checkNotNull(v2);
-        field = v1.getField();
-        data = MathArrays.buildArray(field, v1.data.length + v2.data.length);
-        System.arraycopy(v1.data, 0, data, 0, v1.data.length);
-        System.arraycopy(v2.data, 0, data, v1.data.length, v2.data.length);
+        this((FieldVector<T>) v1, (FieldVector<T>) v2);
     }
 
     /**
@@ -287,15 +284,35 @@ public class ArrayFieldVector<T extends FieldElement<T>> implements FieldVector<
      * @param v2 Second vector (will be put at back of the new vector).
      * @throws NullArgumentException if {@code v1} or {@code v2} is
      * {@code null}.
+     * @since 3.2
      */
-    public ArrayFieldVector(ArrayFieldVector<T> v1, T[] v2)
+    public ArrayFieldVector(FieldVector<T> v1, FieldVector<T> v2)
             throws NullArgumentException {
         MathUtils.checkNotNull(v1);
         MathUtils.checkNotNull(v2);
         field = v1.getField();
-        data = MathArrays.buildArray(field, v1.data.length + v2.length);
-        System.arraycopy(v1.data, 0, data, 0, v1.data.length);
-        System.arraycopy(v2, 0, data, v1.data.length, v2.length);
+        final T[] v1Data =
+                (v1 instanceof ArrayFieldVector) ? ((ArrayFieldVector<T>) v1).data : v1.toArray();
+        final T[] v2Data =
+                (v2 instanceof ArrayFieldVector) ? ((ArrayFieldVector<T>) v2).data : v2.toArray();
+        data = MathArrays.buildArray(field, v1Data.length + v2Data.length);
+        System.arraycopy(v1Data, 0, data, 0, v1Data.length);
+        System.arraycopy(v2Data, 0, data, v1Data.length, v2Data.length);
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     *
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     * @throws NullArgumentException if {@code v1} or {@code v2} is
+     * {@code null}.
+     * @deprecated as of 3.2, replaced by {@link #ArrayFieldVector(FieldVector, FieldElement[])
+     */
+    @Deprecated
+    public ArrayFieldVector(ArrayFieldVector<T> v1, T[] v2)
+            throws NullArgumentException {
+        this((FieldVector<T>) v1, v2);
     }
 
     /**
@@ -306,14 +323,51 @@ public class ArrayFieldVector<T extends FieldElement<T>> implements FieldVector<
      * @throws NullArgumentException if {@code v1} or {@code v2} is
      * {@code null}.
      */
+    public ArrayFieldVector(FieldVector<T> v1, T[] v2)
+            throws NullArgumentException {
+        MathUtils.checkNotNull(v1);
+        MathUtils.checkNotNull(v2);
+        field = v1.getField();
+        final T[] v1Data =
+                (v1 instanceof ArrayFieldVector) ? ((ArrayFieldVector<T>) v1).data : v1.toArray();
+        data = MathArrays.buildArray(field, v1Data.length + v2.length);
+        System.arraycopy(v1Data, 0, data, 0, v1Data.length);
+        System.arraycopy(v2, 0, data, v1Data.length, v2.length);
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     *
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     * @throws NullArgumentException if {@code v1} or {@code v2} is
+     * {@code null}.
+     * @deprecated as of 3.2, replaced by {@link #ArrayFieldVector(FieldElement[], FieldVector)
+     */
+    @Deprecated
     public ArrayFieldVector(T[] v1, ArrayFieldVector<T> v2)
             throws NullArgumentException {
+        this(v1, (FieldVector<T>) v2);
+    }
+
+    /**
+     * Construct a vector by appending one vector to another vector.
+     *
+     * @param v1 First vector (will be put in front of the new vector).
+     * @param v2 Second vector (will be put at back of the new vector).
+     * @throws NullArgumentException if {@code v1} or {@code v2} is
+     * {@code null}.
+     */
+    public ArrayFieldVector(T[] v1, FieldVector<T> v2)
+            throws NullArgumentException {
         MathUtils.checkNotNull(v1);
         MathUtils.checkNotNull(v2);
         field = v2.getField();
-        data = MathArrays.buildArray(field, v1.length + v2.data.length);
+        final T[] v2Data =
+                (v2 instanceof ArrayFieldVector) ? ((ArrayFieldVector<T>) v2).data : v2.toArray();
+        data = MathArrays.buildArray(field, v1.length + v2Data.length);
         System.arraycopy(v1, 0, data, 0, v1.length);
-        System.arraycopy(v2.data, 0, data, v1.length, v2.data.length);
+        System.arraycopy(v2Data, 0, data, v1.length, v2Data.length);
     }
 
     /**