Dev Question - Private Apps?

I have developed an app to grab the latest image from my baby monitor and want to install it on my TV for private use.  I will then develop it to support other cameras and configurations.  My question is...

Is it possible to install an app for testing without submitting it to the store?  I was hoping there would be a location in the developer section to just pop in a URL and tell it which receiver to install it on.  Am I missing something?

--Clay