Is your WebApp being delivered in an iOS app or just in Safari on the iPad?
If it is an app then you can register a custom URL scheme for it and then invoke that from the camera app.
If it is just Safari then you can just launch the http: URL and return that way.
If you are using a custom URL scheme to launch your camera app you can even use that to pass information on the URL that it should return to.
Either way, the URLs can be actioned with [[UIApplication sharedApplication] openURL:url];
According to this answer you can't control the full-screen presentation from the client side - your web site needs to use the appropriate meta tag - see "Hiding Safari User Interface Components"