Well, I read the book some time ago. There is definitely a lot of overlap. The difference could be in the point of view I think: the book is written by the true and only author of ANTLR, and that already means something :)
The video course is, well, a videocourse and not a book (some people prefers videos). The videos show slides, the presenters talking and screencasts. The material is written by consultants that use ANTLR for producing all sort of products. The accent is less on producing a complete reference, but it is more on discussing what works for us and how we use ANTLR in practice.
Another difference is the language used. If I recall correctly the examples in the book are in Java, while in the video course we use Python. All the examples are then available for download in Python, C#, and Javascript (yes, we translated all of them).
The link contains a list of the lessons. I would expect the first lessons to overlap more with the book, while the last lessons could be more different from the material you find in the book.
Cheers,
Federico