Gauss-Newton descent whitens errors by projecting Newton directions or gradients onto the tangent space, replacing JJ^T with the identity and removing parameterization distortions that affect Newton descent.
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Error whitening: Why Gauss-Newton outperforms Newton
Gauss-Newton descent whitens errors by projecting Newton directions or gradients onto the tangent space, replacing JJ^T with the identity and removing parameterization distortions that affect Newton descent.