I have an Intel web cam, Windows XP, Linksys BEFSR41 router, and this is what I'd like to accomplish:

I'd like to know if there's a way I could use these components for remote monitoring via internet. All of my computers are statically assigned to the router and my dynamic i.p. is linked to a domain name from dyndns.org.
All I want to do is monitor a room in my house from the webcam & see it online from any internet connection. Any help provided would be appreciated.