We've got a Foscam and a D-Link camera, that both connect to our Network-Attached-Storage (NAS) drive at home.
It's a bit involved, and the cameras need Internet Explorer to do the configuring, so it's not for everyone. The important thing to us was keeping stuff out of the cloud - after all, "the cloud" is really "somebody else's computer".
If you're into the technical side of things, I've seen some interesting stuff with Raspberry Pis, and some of the stuff from Costco seems good.
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