A typical wireless sensor network consists of a large number of sensor nodes densely deployed in the field, each equipped with wireless communication, sensing and computing capabilities with a limited power resource. Each node gathers its surrounding information according to its sensing modality, and shares the data by communicating with other nodes in the network. Since the data collected by each node is location-specific, obtaining the locations of nodes is one of the fundamental problems in sensor networks.  Consequently, there has been much effort in developing localization algorithms in wireless sensor network. These localization techniques, however, are not suited for camera sensors for two main reasons. First, the level of localization accuracy achieved is not sufficient for basic computer vision tasks. More important, the localization algorithms developed so far do not provide the orientation of a sensor, which is crucial for camera-based sensor networks.