A good freeware is potrace. For better result use mkbitmap for pre-processing to bilevel
bitmaps.(link on same page)
http://potrace.sourceforge.net
Free for one-touch online conversion. For more adjustments you would need to buy.
http://vectormagic.com/home
WinTopo (line work) Delineate (Photo/Line work) were also recommended by people.
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