There is a permission request to access the camera but this is triggered by a call to getUserMedia(). This would be done if setting up a peer connection to transmit voice and/or video. However, if you want to set up a WebRTC data channel no such prompt occurs.
Doesn't look like it. The LAN scanner in another comment didn't put up any prompts for me. It might look like it does because WebRTC is normally used with audio or video, which does require a prompt, but you don't have to use it that way.