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Due to their high fault-tolerance and scalability to large networks, consensus-based distributed algorithms have recently gained immense popularity in the sensor networks community. Large-scale camera networks are a special case. In a consensus-based state estimation framework, multiple neighboring nodes iteratively communicate with each other, exchanging their own local information about each target's state with the goal of converging to a single state estimate over the entire network. However, the state estimation problem becomes challenging when some nodes have limited observability of the state. In addition, the consensus estimate is suboptimal when the cross-covariances between the individual state estimates across different nodes are not incorporated in the distributed estimation framework. The cross-covariance is usually neglected because the computational and bandwidth requirements for its …