According to the homeowner, who declined to be identified publicly, the incident occurred about 1:20 p.m. Thursday in the area of Carnelian and 19th streets, just south of the 210 Freeway.
The stolen items included a month's worth of dog food and a package containing work-related elevator parts, the resident told ABC7.
The footage shows the woman approaching the front door, the lower-half of her face covered by a bandana. She quickly picks up two packages off the porch and returns to a getaway vehicle.
The homeowner said a report was filed with authorities.
Anyone with information about the crime was urged to contact the San Bernardino County Sheriff's Department.