As this point in time, cv outputs jpg images to /var/www which can be seen by setting your browser to view [ip of beaglebone]:8080/frame.jpg
The following command does not return any errors, but I don't know how to view the output:
./mjpg_streamer -i "./input_uvc.so -n -f 5 -r 320x240" -o "./output_http.so -p 8090"
The following website appears to do what I'm looking for: Streaming OpenCV Output Through HTTP/Network with MJPEG
Here's a link to OpenROV's code that uses mjpg_streamer: OpenROVCamera.js