I can proudly claim to have a video feed from the Beagle unfortunately it is not the one on Mars. The beagleboard is running Angstrom-2.6.29 kernel and using the uvcvideo module in conjuntion with the el-cheapo ($4 cost + $4 shipping) USB webcam.
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 002: ID 1e4e:0100 <- Webcam
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Then connected to the device using ethernet-over-usb (also supplies power).
ubuntu@ubuntu:~$ lsmod | grep cdc
cdc_acm 16544 0
cdc_subset 3100 0
cdc_ether 4924 0
usbnet 17188 2 cdc_subset,cdc_ether
ssh-ed with X-enabled and streamed the display of mplayer from the beagle to my main screen.
mplayer -fps 30 -tv driver=v4l2:width=640:height=480:device=/dev/video0 tv://
So here is a screencap of the webcam looking back at the Beagle.