Voelker have designed a bare-bones for line following robot. He attached an ov7670 camera module to papilio FPGA board and was able to send videos to PC using 30fps. To achieve this he scaled images down from 640×480 to 80×60. And still it took 3Mbaud com speed.
He wrote a simple java program that takes data stream from COM port and combines in to display. His next plan is to do edge detection algorithm and apply it to line following robot. For a record, it he didn’t use any soft-core – all is programmed using VHDl and SystemC.