Camel-casing a 'dashed' string

I'm fairly inexperienced with *nix scripting, and I have a need to take a string with lowercase words separated by dashes and convert that to a new string with the dashes removed, and the first letter after each original dash uppercased. For example, I want to take

one-two-three-four-five

and convert it to

oneTwoThreeFourFive

The solution must be able to handle multiple dashes (including none), and can use other *nix utilities if necessary like sed, awk, etc.

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