I was able to get video working through asterisk and SIP.js. Although, I do have some issues with mine, it does work from browser to Linphone or browser to browser.
Here are some instructions on how I set it up. I'll be updating soon now that Asterisk 13 was released last week.
https://github.com/jwoertink/webrtc-demo/blob/latest_versions/centos6-5-VBoxInstall-asterisk.md