Hi,

with a bluetooth modem you only can do serial communication.

I think it would be possible to realize your project with an CMUcam2 module or similar. This is a camera module with integrated processor. It has a serial port for communication. This serial port you can tunnel via bluetooth modem to a PC. Make the picture processing inside the PC and send back the control commands to the Asuro. The only problem is, you can not share the serial port via bluetooth between Asuro, CMUcam2 and PC. You need a switch or second bluetooth modem or use the original IR Port from Asuro.

Greets m.a.r.v.i.n