wikipedia, the world's highest authority on matters of nitpicking, says camel case can be either; capitalization of the first letter is unspecified.

in practice, I've certainly heard people use camel case to refer to either convention. I hear pascal case a lot when people specifically mean a capitalized first character. wikipedia lists dromedary case as the complement of pascal case, but I've never actually seen this term used IRL.

https://en.wikipedia.org/wiki/Camel_case