Well, I got my data coming in through hardware serial with no problems. I also have decided that the camera for now will be run off its own Arduino and I'm using I2C to transmit the bytes I want (only 8 bytes out of the whole possible 43) to a second arduino that will do the rest of the processing, calculate deviation from the line and then control the motors(again with a software serial port) I ultimately would have run into trouble timing all the different communications I think.