I live alone so when I'm filming at home, no one is around. But, I have done some intro and outro clips outside in my favorite parks with strangers around. I was extremely camera shy before Youtube. My very first video I ever made was partially filmed at the gym with the manager and front desk staff watching me on one side, and my personal trainer standing near me laughing because he thought my intro was funny, which I intended it to be. It was hard for me to do and I had to psych myself up and memorize and practice a script for a week prior. It was my clean eating doughnuts video and I wasn't comfortable filming most of that video.
IMO, the best way to get over camera shyness and inferiority complexes is to film yourself in a public place. You'll notice most people will look, see you talking to a camera, and really won't care or think you're insane. They see you filming and some even think it's cool.