Hmmmm something for a camera heater, held in the camera case.
Video recorders have a very small heating element in them to fight condensation (2 watt 'ish if I remember right). You could maybe make an ideal camera case heater out of one. Not sure of the voltage these things run at either (max 12v I would think), maybe worth asking a video engineer about them (may be able to get a secondhand one out of an old broken unit?). They seem to last for years and years too.
Heat output wouldn't be huge, but could be plenty for what is needed. Once you know the voltage you need, you could then look out for a suitable battery to power it (a mobile phone battery/whatever might do it). Wouldn't be too difficult to wire up in the base of the camera case, include an on/off switch, and if you can use mobile phone batteries, plugging them into a phone and charging them from a 12v vehicle power source would be easy.
With the weight and size of mobile phone batteries now, a little case to hold one onto the camera strap would be quick to run up? Edit: though with -20 deg temps, you may want a little battery holder you can keep in a pocket to keep the battery warm.
Edit: a DC lightbulb of a few watts would do the same job, but be a bit vulnerable to breakage and probably a bit difficult to make a neat and safe holder for. OR, what about these LED brakelight bulbs? They give off any heat?