While I've always been interested in measuring this in the "field", I have yet to take out the proper equipment (a good heart rate monitor). Still, I feel one can get a decent estimate and feel for calories burned on a certain hike with indoor studies, and so I did someinterpretation of a research paper and consequently made a '1st generation' caloric expenditure hiking calculator.
Now there is still a lot of work to improve the estimates, but generally they will be decent. At least to give a sense of relative magnitude of different hikes in terms of energy demands (sorry climbers, I have no idea what to do with climbing )
Sorry if you're not interested, but I figure some people will be.