In computer vision and more particularly in vision processing, the impressive evolution of algorithms and the emergence of new techniques dramatically increase algorithm complexity. In this paper, a novel FPGA-based architecture dedicated to active vision (and more precisely early vision) is proposed. Active vision appears as an alternative approach to deal with artificial vision problems. The central idea is to take into account the perceptual aspects of visual tasks, inspired by biological vision systems. For this reason, we propose an original approach based on a System On Programmable Chip implemented in an FPGA connected to a CMOS imager and an inertial set. With such a structure based on reprogrammable devices , this system admits a high degree of versatility and allows the implementation of parallel image processing algorithms.