What part of the flowchart led you to believe that the camera is not legal?
The CMUCam from last year's KOP as well as the CMUCam3 are both legal accorindg to the Q&A posted
here
EDIT:Let me clarify a bit, the 2007 KOP camera would be legal as it is still available form IFI, the 2006 KOP camera is illegal as it is no longer available and was custom made for FIRST.
Also any other commercially available, off-the-shelf camera system should be legal provided it is under $400 and communicates with the RC and/or other robot circuitry and not wirelessly to the OI or another device.