Since your StarDot camera or server is most likely behind a router (or modem with built-in router), it was probably assigned a non-routable or private IP address (i.e. 192.168.1.X or 10.0.0.X).
In order to connect to your StarDot device from the Internet side of your router, you have to set up port forwarding ( some router manufactures call this feature virtual servers or pinholing).Your router must be configured to direct the request from your public IP address to the camera's private IP address.
The most common port for web browsing is port 80. If you have a single camera application (and your ISP does not block port 80), you'll want to forward port 80 to your camera's local IP address. If you have multiple IP devices (or your ISP blocks port 80), StarDot devices can be assigned any other web port number (i.e. camera 1 = port 81, camera 2 = port 82, etc.)
Here are some other sources that provide more information of configuring your router for port forwarding:
If you have DSL or cable and you do not have a static IP address (it's usually an extra monthly charge), then you'll need a way to discover your public IP address. This method is called Dynamic DNS and is supported by many routers (like those by Linksys). If your router does not support DDNS, all StarDot IP devices support TZO.com (a DDNS provider).