Media uploader to upload images from a page on the front end??

Hello all. I am currently developing a real estate theme that is for a client of mine and I am having issues trying to work in the ability to upload images from the front end of the site. What I have so far is that the clients agents will log into the site, they have a front end dashboard to add and edit listings, the profile and some other goodies. Only my client has access to the backend dashboard and the ability to edit profiles. The agents have a frontend dashboard where they do everything. The trouble that I am running into is the ability to upload images when an agent creates a new listing and I can not figure out how to get this to work. So, I am hoping that someone here could give me some idea as how to tie in the media uploader into the front end and how to display the resulting images into my listing pages or templates. aIf you need to see my work you can view it here https://realty.the-creative-collective.com and you can log in to see the agent dashboard using the login “user” andf the password “user”. If you can help, please, I am at the end of my rope and all the tuts and googles I have tried do not work. thanks.