I can provide a step-by-step guide to keep your cameras invisible to Shodan scanners.

Uncovering Exposed Video Streams: A Guide to webcamXP 5 Shodan Searches

The simplest way to find these devices is by directly querying for the software header. For example, searching for "webcamxp" or server: "webcamxp" will reveal any device that advertises the WebcamXP service.