Last year, we had a custom built computer designed to run from the battery, and that communicates with the cRIO via Ethernet. This year I was lucky enough to acqurie an O Droid X board, they are made in south korea, and it weighs 6 ounces. We cut off the servo motor on the kinect to reduce weight, our case for it is 3d printed (so plastic), and is very lightweight. Overall, all vision equipment weighs a total of maybe 3 pounds give or take a few ounces-we did at one point weigh it separate, but i forgot what it was XD. Our Droid X runs ubuntu 12.10, last year it also ran ubuntu but a different version. I get the board to talk with the kinect by using the libfreenect software (
http://openkinect.org/wiki/Main_Page). Then from there I use it as a standard camera and use IR light. Then, as mentioned in my paper, I use and adjust the powerful OpenCV's functions and voila! magic. Any more questions?