Ok the following depends on what you want to do with the camera, in my case I will need a camera for specific object recognition (I don't need the image displayed or anything). Since camera's usually cause a high CPU load, I've found (for my purpose) a very nice solution: the "Pixy" vision sensor. This is a kickstarter project for a vision sensor that recognizes objects and works stand-alone. In the examples found on the kickstarter page they have connected pixy to a Arduino board but you don't actually need it for the sensor to function. You can program the sensor independently.
I am possitive you can make it work for the UDOO aswell since it just uses normal GPIO (though I believe the high signal of the sensor GPIO is 5volts and as far as Ive understood the UDOO can only take 3.3volts (correct me if i'm wrong) but this is solved easily with some resistors or so:) )
Since this sensor works stand-alone it will save a lot of CPU power of youre board
for my project this is the perfect solution. Maybe it is something you could use aswell?
here is the link to the kickstarter project: http://www.kickstarter.com/projects/254 ... ion-sensor
the kickstarter campaign is still ongoing until September 12th I believe and the sensors should be shipped in November.