diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index d1a03eb5b..e0ca3726b 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -157,7 +157,7 @@ Vector Gaussian::unwhiten(const Vector& v) const {
 }
 
 /* ************************************************************************* */
-double Gaussian::SquaredMahalanobisDistance(const Vector& v) const {
+double Gaussian::squaredMahalanobisDistance(const Vector& v) const {
   // Note: for Diagonal, which does ediv_, will be correct for constraints
   Vector w = whiten(v);
   return w.dot(w);
@@ -573,7 +573,7 @@ void Isotropic::print(const string& name) const {
 }
 
 /* ************************************************************************* */
-double Isotropic::SquaredMahalanobisDistance(const Vector& v) const {
+double Isotropic::squaredMahalanobisDistance(const Vector& v) const {
   return v.dot(v) * invsigma_ * invsigma_;
 }
 
diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 4c74d9e46..cccca225b 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -214,13 +214,13 @@ namespace gtsam {
       /**
        * Squared Mahalanobis distance v'*R'*R*v = <R*v,R*v>
        */
-      virtual double SquaredMahalanobisDistance(const Vector& v) const;
+      virtual double squaredMahalanobisDistance(const Vector& v) const;
 
       /**
        * Mahalanobis distance
        */
       virtual double MahalanobisDistance(const Vector& v) const {
-        return std::sqrt(SquaredMahalanobisDistance(v));
+        return std::sqrt(squaredMahalanobisDistance(v));
       }
 
 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
@@ -228,7 +228,7 @@ namespace gtsam {
 #endif
 
       inline virtual double error(const Vector& v) const {
-        return 0.5 * SquaredMahalanobisDistance(v);
+        return 0.5 * squaredMahalanobisDistance(v);
       }
 
       /**
@@ -580,7 +580,7 @@ namespace gtsam {
       }
 
       virtual void print(const std::string& name) const;
-      virtual double SquaredMahalanobisDistance(const Vector& v) const;
+      virtual double squaredMahalanobisDistance(const Vector& v) const;
       virtual Vector whiten(const Vector& v) const;
       virtual Vector unwhiten(const Vector& v) const;
       virtual Matrix Whiten(const Matrix& H) const;
@@ -632,7 +632,7 @@ namespace gtsam {
       virtual bool isUnit() const { return true; }
 
       virtual void print(const std::string& name) const;
-      virtual double SquaredMahalanobisDistance(const Vector& v) const {return v.dot(v); }
+      virtual double squaredMahalanobisDistance(const Vector& v) const {return v.dot(v); }
       virtual Vector whiten(const Vector& v) const { return v; }
       virtual Vector unwhiten(const Vector& v) const { return v; }
       virtual Matrix Whiten(const Matrix& H) const { return H; }
diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp
index c6fcdd77a..e879731cb 100644
--- a/gtsam/linear/tests/testNoiseModel.cpp
+++ b/gtsam/linear/tests/testNoiseModel.cpp
@@ -71,7 +71,7 @@ TEST(NoiseModel, constructors)
   // test squared Mahalanobis distance
   double distance = 5*5+10*10+15*15;
   for(Gaussian::shared_ptr mi: m)
-    DOUBLES_EQUAL(distance,mi->SquaredMahalanobisDistance(unwhitened),1e-9);
+    DOUBLES_EQUAL(distance,mi->squaredMahalanobisDistance(unwhitened),1e-9);
 
   // test R matrix
   for(Gaussian::shared_ptr mi: m)