The present disclosure relates to a sensor network including a plurality of nodes, each node having a directional sensor, a communication module, and a processor configured to receive local measurements of a calibration object from the directional sensor, receive additional measurements of the calibration object from neighboring nodes via the communication module, estimate an initial set of calibration parameters in response to the local and additional measurements, receive additional sets of calibration parameters from neighboring nodes via the communication module, and recursively estimate an updated set of calibration parameters in response to the additional sets of calibration parameters. Additional systems and methods for calibrating a large network of camera nodes are disclosed.