VLC command:
vlc v4l2:// :input-slave=alsa:// :v4l2-standard=1 :v4l2-dev=/dev/video0 :v4l2-width=1280 :v4l2-height=720 :sout="#transcode{vcodec=theo,vb=2000,acodec=vorb,ab=128,channels=2,samplerate=44100}:http{dst=:8081/webcam.ogg}" -I dummy
Source: https://bioinfoexpert.com/blog/2016/08/09/stream-audio-video-from-webcam-using-vlc/
Works also on Raspberry Pi's w/ Ubuntu, but it seems that a Pi-specific VLC distribution is needed, i.e.:
Note: Audio device didn't seem to work though