How to get camera content

Hi there,

I would like to get the content of what my camera is watching, I guess an RGB matrix like in a real camera.
I’m modelling a small mobile robot with a camera on top of it, so it’ll see the different colored boxes and balls in his world through its camera. Now, how do I read the content of that image in the camera.
In a real robot, the camera provides a matrix with let’s say 320x240 pixels for each color channel, usually 3 channels RGB or HSV. Once that matrix is acquired the rest of the computer vision stuff can be applied to control the robot.
Is it possible to get this kind of information in Blender’s camera???

Any help, comments and suggestions on how to solve this problem will be greatly appreciated.