[chsahit]

If you are using the RPi I would suggest staying away from Java/Python, the overhead would make vision processing a pain. Try C++. A few years ago, MORT stripped down a laptop and put it on the robot, it's surprisingly straight forward and not as heavy as one might think. I believe there is a way to use network tables and actually do all your processing on the driver station itself. Just send the data from the robot to a client program on your DS, analyze it there, and send it back.
Feel free to message me about questions or if you want to see code!