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Running processing on the RoboRIO at higher than 640x480 is possible, but I would not recommend it. The frame rates drop too low. I'll have to dig out the benchmarking I did last year, but I think it was single digits.

Latency will depend on what you use for processing,what you need, and how big your images are. The variables get a little too complex to estimate, but you can code around them somewhat. In 2012, we did offboard processing and use a sample and move for our turret where we'd pause the turret, get the angle to change to, move to that positiion, stop, and recheck.

We haven't tried onboard in a bit, but next up will be trying to use the Tegra TK1 offered to First. It's a quad core 2+ghz Arm A15 running linux and 192 cuda cores. With OpenCV, this should be sufficient for anything we need. I'm not sure of anything which gives you more bang for your buck.