There are surveys that gather precise information on an outcome of interest, but measure continuous covariates by a discrete number of intervals, in which case the covariates are interval censored. For applications with a second independent dataset precisely measuring the covariates, but not the outcome, this paper introduces a semiparametrically efficient estimator for the coefficients in a linear regression model. The second sample serves to establish point identifi-cation. An empirical application investigating the relationship between income and body mass index illustrates the use of the estimator.1 For the advantages see, for example, Juster and Smith (1997). For the disadvantages see, for example, Hsiao (1983) and Rigobon and Stoker (2009). 2 See, for example, Hsiao (1983) for a linear regression model. This paper introduces an estimator, called the two-step, two-sample augmented generalized instrumental variable (2S-AGIV) estimator, drawing on the comparative advantages of the point-and set-identifying approaches. The paper has three results. The first result states that, when there is a second independent sample with continuous measurements of the covariates, the linear regression model with interval-censored covariates in the first sample point-identifies the coefficients of interest. The model implies an identifying moment restriction using indicator variables for the intervals as instrumental variables observed in both samples. Neither parametric, support, nor monotonicity restrictions on the interval-censored covariates are needed to obtain this result. The second result shows that the existing two-sample instrumental variable estimators, including the two-stage least squares (2SLS; Klevmarken, 1982) and two-sample instrumental variable (2S-GIV; Ridder & Moffitt, 2007) estimators, are consistent and asymptotically normal; however, they are not semiparametrically efficient. The 2SLS estimator is equivalent to imputing in the censored sample the truncated mean of the covariate of interest within the interval calculated from the uncensored sample. The 2S-GIV estimator is equivalent to a weighted least squares estimator on the truncated mean outcome and covariate of interest within the interval. The paper shows that the 2S-AGIV estimator is consistent, asymptotically normal, and semiparametrically efficient, which is the third result. This last property means that, in large samples, the 2S-AGIV estimator can realize in the best possible way the precision gains offered by the point-identifying approach without parametrizing the distribution of the covariates. A simulation study bears out these theoretical properties of the 2S-AGIV estimator.An empirical exercise using data from the HSE and the FRS illustrates and supports the use of the 2S-AGIV estimator. The exercise tests the unearned income effect (UIE) hypothesis, which postulates an inverted U-shaped relationship between income and body mass index (BMI; see; Lakdawalla & Philipson, 2009). This hypothesis is relevant, for instance, in assessing the eff...