A novel framework for remote service discovery and access of IP cameras with Network Address Translation (NAT) traversal is presented in this paper. The proposed protocol, termed STDP (Service Trader Discovery Protocol), is a hybrid combination of Zeroconf and SIP (Session Initial Protocol). The Zeroconf is adopted for the discovery and/or publication of local services; whereas, the SIP is used for the delivery of local services to the remote nodes. In addition, both the SIP-ALG (Application Layer Gateway) and UPnP (Universal Plug and Play)-IGD (Internet Gateway Device) protocols are used for NAT traversal. The proposed framework is well-suited for high mobility applications where the fast deployment and low administration efforts of IP cameras are desired.