I believe the best app for this is ChessOCR. It is available for Android, but the developer says that he is not working on an iOS port. I first discovered this when I was using an iPhone myself. I thought the app was so valuable that I bought a no-contract Android phone just for this purpose. (No need to activate it.) Now that I also use an Android phone, I still use the no-contract phone for this and most other chess apps since I use them so much and that way I'm not always running down the battery on my regular phone.
Edit - I should also add that originally I found that not all Android tablets had cameras suitable for the app. You should try the app on your Android tablet, if you have one, and may be able to use that instead of a phone, though I very much find the phone handier for this myself.
I hear that there are at least two apps for Android that can take pictures of chess positions and, via optical character recognition (OCR), convert them to FENs. Has anyone come across any such app for the iPhone?