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The first backup camera was used in the 1956 Buick Centurion concept car, presented in January 1956 at the General Motors Motorama. The vehicle had a rear-mounted television camera that sent images to a TV screen on the dashboard in place of the rear-view mirror.
The first production automobile to incorporate a backup camera was the 1991 Toyota Soarer Limited (UZZ31 and UZZ32), which was only available in Japan. The Toyota system used a color EMV screen with a rear-spoiler-mounted CCD camera.

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sources
text - Wikipedia
video - Youtube
clipping - Walla Walla, April 30, 1956

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  Walla Walla, April 30, 1956.jpg (454.75 KB)

Wish they would have shown photos of how they mounted and housed the camera and monitor because those things were rather large in 56. Wonder how much space was lost in the dash to house the somewhat long and bulky CRT or if it is all in the separate pod as it sort of looks like. Where in the trunk did they mount the camera described as a "small" camera but relative to what? If it ever became a production offering am thinking vibration would have been a real issue if some of the early x-ray fluoroscopy TV camera systems in the 60s are anything to go by.