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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
When I refresh the browser, the image updates. Now I just some javascript to refresh the video. Because cv requires a graphical user interface, you'll have to remote into the Beaglebone using xrdp. You'll also have to run cv with sudo to get write privileges to the /var/www folder. 

The following command does not return any errors, but I don't know how to view the output:
./mjpg_streamer -i "./ -n -f 5 -r 320x240" -o "./ -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