This paper presents a real-time robot vision system integrating adequate image processing and pan-tilt motion control which is implemented by FPGA reconfigurable logic device. The digital image processing acquired by CMOS image sensor is performed on the embedded FPGA board and Linux real-time video communication module. The integrated robot vision system aims to achieve a suitable platform available from both hardware and software. In addition, we also present spatial recognition by edge detection and tracking function of moving objects by determining color which are necessary for autonomous mobile robots.