As per you considerations: It's an acid battery, not a gel battery, I don't know what that changes.
Probably nothing much, other than the obvious i.e. that you need to be careful about keeping it in upright position.
Also, the huge waste you mentioned did worry me (together with the heat dissipation), but what's an (easy and cheap) way to avoid it?
A different regulator?
I thought about a small transformer to transform the 12v in 6v before regulating it. Would that help? Would I also get more camera time?
Transformers need alternating current to work, you have DC. A different regulator indeed, you need some sort of a switching power supply. No biggie, but you aren't going to find one that's both as cheap as your LM317 and as easy to use. Switching power supplies can be quite tricky to design from the scratch, and complete modules tend to be a bit expensive in low volumes. If you're up for it, using something like National Semiconductor's simple switchers could be the most cost efficient choice for you, but I wouldn't recommend trying this unless you know your way around an oscilloscope.
AFAIK, the Canon power supply is 3,15 VDC, 1.5A for the a570is and probably all other dual-AA-cell models.
I have a 12V in, 4A @ 3V car adapter for my NiMH charger. Something like that would probably be good, but you'd have to know the output is clean (I'm not saying 3V is enough for the camera, I'm only guessing it probably is since the camera uses batteries down to 2 volts; I'll guess that a lower than 3,15 V supply may make the camera draw current from the batteries first until their voltage drops a bit).
The bottom line is that the easiest solution for you to improve the efficiency of your setup may very well be to find an inexpensive 6 volt Pb battery charger.
edit: Just to remind, your camera has a different input voltage than mine and it's probably for a reason.