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This paper shows how an image processing architecture can be efficiently made with structures based on Programmable Logic Devices (PLD and EPLD). The posibilities of these devices in electronic design and in vision systems are explained in the introduction.The parts of the vision system are stablished in the second paragraph, and the following ones explain how the main parts can be based on EPLDs.This system can be used in robot vision efficiently because it is fast (it processes images at video rate) and it is cheep (because it's based on general purpose devices).