diff --git a/examples/matlab/PlanarSLAMExample_easy.m b/examples/matlab/PlanarSLAMExample_easy.m
index 3e165e975..54462732b 100644
--- a/examples/matlab/PlanarSLAMExample_easy.m
+++ b/examples/matlab/PlanarSLAMExample_easy.m
@@ -28,20 +28,20 @@ graph = planarSLAMGraph;
 
 %% Add prior
 % gaussian for prior
-prior_model = gtsamSharedNoiseModel_sharedSigmas([0.3; 0.3; 0.1]);
+prior_model = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]);
 prior_measurement = gtsamPose2(0.0, 0.0, 0.0); % prior at origin
 graph.addPrior(x1, prior_measurement, prior_model); % add directly to graph
 
 %% Add odometry
 % general noisemodel for odometry
-odom_model = gtsamSharedNoiseModel_sharedSigmas([0.2; 0.2; 0.1]);
+odom_model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]);
 odom_measurement = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case)
 graph.addOdometry(x1, x2, odom_measurement, odom_model);
 graph.addOdometry(x2, x3, odom_measurement, odom_model);
 
 %% Add measurements
 % general noisemodel for measurements
-meas_model = gtsamSharedNoiseModel_sharedSigmas([0.1; 0.2]);
+meas_model = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]);
 
 % create the measurement values - indices are (pose id, landmark id)
 degrees = pi/180;
diff --git a/examples/matlab/Pose2SLAMExample_advanced.m b/examples/matlab/Pose2SLAMExample_advanced.m
index ce29119c6..3edb34782 100644
--- a/examples/matlab/Pose2SLAMExample_advanced.m
+++ b/examples/matlab/Pose2SLAMExample_advanced.m
@@ -28,20 +28,20 @@ graph = pose2SLAMGraph;
 
 %% Add prior
 % gaussian for prior
-prior_model = gtsamSharedNoiseModel_sharedSigmas([0.3; 0.3; 0.1]);
+prior_model = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]);
 prior_measurement = gtsamPose2(0.0, 0.0, 0.0); % prior at origin
 graph.addPrior(x1, prior_measurement, prior_model); % add directly to graph
 
 %% Add odometry
 % general noisemodel for odometry
-odom_model = gtsamSharedNoiseModel_sharedSigmas([0.2; 0.2; 0.1]);
+odom_model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]);
 odom_measurement = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case)
 graph.addOdometry(x1, x2, odom_measurement, odom_model);
 graph.addOdometry(x2, x3, odom_measurement, odom_model);
 
 %% Add measurements
 % general noisemodel for measurements
-meas_model = gtsamSharedNoiseModel_sharedSigmas([0.1; 0.2]);
+meas_model = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]);
 
 % print
 graph.print('full graph');
diff --git a/examples/matlab/Pose2SLAMExample_easy.m b/examples/matlab/Pose2SLAMExample_easy.m
index 8df9c1c0e..bbafba99d 100644
--- a/examples/matlab/Pose2SLAMExample_easy.m
+++ b/examples/matlab/Pose2SLAMExample_easy.m
@@ -26,13 +26,13 @@ graph = pose2SLAMGraph;
 
 %% Add prior
 % gaussian for prior
-prior_model = gtsamSharedNoiseModel_sharedSigmas([0.3; 0.3; 0.1]);
+prior_model = gtsamSharedNoiseModel_Sigmas([0.3; 0.3; 0.1]);
 prior_measurement = gtsamPose2(0.0, 0.0, 0.0); % prior at origin
 graph.addPrior(x1, prior_measurement, prior_model); % add directly to graph
 
 %% Add odometry
 % general noisemodel for odometry
-odom_model = gtsamSharedNoiseModel_sharedSigmas([0.2; 0.2; 0.1]);
+odom_model = gtsamSharedNoiseModel_Sigmas([0.2; 0.2; 0.1]);
 odom_measurement = gtsamPose2(2.0, 0.0, 0.0); % create a measurement for both factors (the same in this case)
 graph.addOdometry(x1, x2, odom_measurement, odom_model);
 graph.addOdometry(x2, x3, odom_measurement, odom_model);
diff --git a/gtsam.h b/gtsam.h
index 970980108..9b2a89e85 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -229,13 +229,13 @@ class SharedDiagonal {
 };
 
 class SharedNoiseModel {
-	static gtsam::SharedNoiseModel sharedSigmas(Vector sigmas);
-	static gtsam::SharedNoiseModel sharedSigma(size_t dim, double sigma);
-	static gtsam::SharedNoiseModel sharedPrecisions(Vector precisions);
-	static gtsam::SharedNoiseModel sharedPrecision(size_t dim, double precision);
-	static gtsam::SharedNoiseModel sharedUnit(size_t dim);
-	static gtsam::SharedNoiseModel sharedSqrtInformation(Matrix R);
-	static gtsam::SharedNoiseModel sharedCovariance(Matrix covariance);
+	static gtsam::SharedNoiseModel Sigmas(Vector sigmas);
+	static gtsam::SharedNoiseModel Sigma(size_t dim, double sigma);
+	static gtsam::SharedNoiseModel Precisions(Vector precisions);
+	static gtsam::SharedNoiseModel Precision(size_t dim, double precision);
+	static gtsam::SharedNoiseModel Unit(size_t dim);
+	static gtsam::SharedNoiseModel SqrtInformation(Matrix R);
+	static gtsam::SharedNoiseModel Covariance(Matrix covariance);
 	void print(string s) const;
 };
 
diff --git a/gtsam/linear/SharedNoiseModel.h b/gtsam/linear/SharedNoiseModel.h
index 71f2e4014..1d66e3495 100644
--- a/gtsam/linear/SharedNoiseModel.h
+++ b/gtsam/linear/SharedNoiseModel.h
@@ -50,31 +50,31 @@ namespace gtsam { // note, deliberately not in noiseModel namespace
 
     // Static syntactic sugar functions to create noisemodels directly
     // These should only be used with the Matlab interface
-  	static inline SharedNoiseModel sharedSigmas(const Vector& sigmas, bool smart=false) {
+  	static inline SharedNoiseModel Sigmas(const Vector& sigmas, bool smart=false) {
   		return noiseModel::Diagonal::Sigmas(sigmas, smart);
   	}
 
-  	static inline SharedNoiseModel sharedSigma(size_t dim, double sigma) {
+  	static inline SharedNoiseModel Sigma(size_t dim, double sigma) {
   		return noiseModel::Isotropic::Sigma(dim, sigma);
   	}
 
-  	static inline SharedNoiseModel sharedPrecisions(const Vector& precisions) {
+  	static inline SharedNoiseModel Precisions(const Vector& precisions) {
   	  return noiseModel::Diagonal::Precisions(precisions);
   	}
 
-  	static inline SharedNoiseModel sharedPrecision(size_t dim, double precision) {
+  	static inline SharedNoiseModel Precision(size_t dim, double precision) {
   	  return noiseModel::Isotropic::Precision(dim, precision);
   	}
 
-  	static inline SharedNoiseModel sharedUnit(size_t dim) {
+  	static inline SharedNoiseModel Unit(size_t dim) {
   	  return noiseModel::Unit::Create(dim);
   	}
 
-  	static inline SharedNoiseModel sharedSqrtInformation(const Matrix& R) {
+  	static inline SharedNoiseModel SqrtInformation(const Matrix& R) {
   	  return noiseModel::Gaussian::SqrtInformation(R);
   	}
 
-  	static inline SharedNoiseModel sharedCovariance(const Matrix& covariance, bool smart=false) {
+  	static inline SharedNoiseModel Covariance(const Matrix& covariance, bool smart=false) {
   		return noiseModel::Gaussian::Covariance(covariance, smart);
   	}