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.
<pre class="src src-sh">potrace image.bmp <span style="color: #ff4500;">## </span><span style="color: #ff4500;">output image.eps by default</span>
potrace -s image.bmp ## output image.svg; transparent
Now I can easily convert basic artwork to vector images!