Objects imaged through thin scattering media can be reconstructed with the knowledge of the complex transmission function of the diffuser. We demonstrate image reconstruction of static and dynamic objects with numerical phase conjugation in a lensless setup. Data is acquired by single shot intensity capture of an object coherently illuminated and obscured by an inhomogeneous medium, i.e. light diffracted at a specimen is scattered by a polycarbonate diffuser and the resulting speckle field is recorded. As a preparational step, which has to be performed only one time before imaging, the complex speckle field diffracted by the diffuser to the camera chip is measured interferometrically, which allows to reconstruct the transmission function of the diffuser. After insertion of the specimen, the speckle field in the camera plane changes, and the complex field of the sample can be reconstructed from the new intensity distribution. After initial interferometric measurement of the diffuser field, the method is robust with respect to a subsequent misalignment of the diffuser. The method can be extended to image objects placed between a pair of thin scattering plates. Since the object information is contained in a single speckle intensity pattern, it is possible to image dynamic processes at video rate.