[SamCarlberg]

Something like this might work for you:

// Create a new Timer to schedule vision processing
Timer visionScheduler = new Timer("Vision Scheduler", true);

void doVisionProcessing() {
    // Your vision code here
}

public void autonomousInit() {
    ...
    // Perform vision processing every 50ms, starting in 0ms (i.e. now)
    visionScheduler.scheduleAtFixedRate(new TimerTask() {
            public void run() {
                doVisionProcessing();
            }
        }, 0, 50);
}

Keep in mind that you'll need to do the normal threading stuff like locks/synchronization blocks and declaring shared variables volatile, but that applies for any multithreaded program.