Convert raster image to vector image

I wanted to convert some raster images (bmp, png, etc.) to vector images (svg, pdf, eps) so that they can be rescaled easily. I found Vector Magic, which used to be free from Stanford University but now cost a grip; however, they do allow some free conversions. This post let me know that Potrace is implemented in Inkscape. I just used Potrace directly since it is command line based.

potrace image.bmp ## output image.eps by default
potrace -s image.bmp ## output image.svg; transparent

Now I can easily convert basic artwork to vector images!