diff --git a/sw/airborne/modules/computer_vision/colorfilter.c b/sw/airborne/modules/computer_vision/colorfilter.c
index 0e4b6a0f59..6bd3086df8 100644
--- a/sw/airborne/modules/computer_vision/colorfilter.c
+++ b/sw/airborne/modules/computer_vision/colorfilter.c
@@ -41,8 +41,8 @@ uint8_t color_cr_max  = 255;
 int color_count = 0;
 
 // Function
-bool_t colorfilter_func(struct image_t* img);
-bool_t colorfilter_func(struct image_t* img)
+struct image_t* colorfilter_func(struct image_t* img);
+struct image_t* colorfilter_func(struct image_t* img)
 {
   // Filter
   color_count = image_yuv422_colorfilt(img,img,
@@ -51,7 +51,7 @@ bool_t colorfilter_func(struct image_t* img)
       color_cr_min,color_cr_max
       );
 
-  return FALSE;
+  return img; // Colorfilter did not make a new image
 }
 
 void colorfilter_init(void)
diff --git a/sw/airborne/modules/computer_vision/cv.c b/sw/airborne/modules/computer_vision/cv.c
index a18ad02ced..b54cecfca5 100644
--- a/sw/airborne/modules/computer_vision/cv.c
+++ b/sw/airborne/modules/computer_vision/cv.c
@@ -42,7 +42,12 @@ void cv_add(cvFunction func)
 
 void cv_run(struct image_t *img)
 {
+  struct image_t* temp_image = img;
   for (int i = 0; i < cv_func_cnt; i++) {
-    cv_func[i](img);
+    struct image_t* new_image = cv_func[i](temp_image);
+    if (new_image != 0)
+    {
+      temp_image = new_image;
+    }
   }
 }
diff --git a/sw/airborne/modules/computer_vision/cv.h b/sw/airborne/modules/computer_vision/cv.h
index 4ac6d34471..ce69d899d8 100644
--- a/sw/airborne/modules/computer_vision/cv.h
+++ b/sw/airborne/modules/computer_vision/cv.h
@@ -32,7 +32,7 @@
 #include "std.h"
 #include "lib/vision/image.h"
 
-typedef bool_t (*cvFunction)(struct image_t *img);
+typedef struct image_t* (*cvFunction)(struct image_t *img);
 
 extern void cv_add(cvFunction func);
 extern void cv_run(struct image_t *img);
diff --git a/sw/airborne/modules/computer_vision/cv_blob_locator.c b/sw/airborne/modules/computer_vision/cv_blob_locator.c
index 12d8b7d091..4b1ad49d45 100644
--- a/sw/airborne/modules/computer_vision/cv_blob_locator.c
+++ b/sw/airborne/modules/computer_vision/cv_blob_locator.c
@@ -122,7 +122,7 @@ bool_t cv_blob_locator_func(struct image_t *img);
 bool_t cv_blob_locator_func(struct image_t *img) {
 
   if (!blob_enabled)
-    return FALSE;
+    return 0;
 
 
   // Color Filter
@@ -209,7 +209,7 @@ bool_t cv_blob_locator_func(struct image_t *img) {
 
   image_free(&dst);
 
-  return FALSE;
+  return 0; // No new image is available for follow up modules
 }
 
 #include "modules/computer_vision/cv_georeference.h"
diff --git a/sw/airborne/modules/computer_vision/detect_window.c b/sw/airborne/modules/computer_vision/detect_window.c
index f798e13c5a..0101849d63 100644
--- a/sw/airborne/modules/computer_vision/detect_window.c
+++ b/sw/airborne/modules/computer_vision/detect_window.c
@@ -53,7 +53,7 @@ extern bool_t detect_window(struct image_t *img)
   printf("Response = %d\n", response);
 
   image_free(&gray);
-  return 1;
+  return 0; // No new image was created
 }
 
 
diff --git a/sw/airborne/modules/computer_vision/qrcode/qr_code.c b/sw/airborne/modules/computer_vision/qrcode/qr_code.c
index 61c8b884bc..41917da9c3 100644
--- a/sw/airborne/modules/computer_vision/qrcode/qr_code.c
+++ b/sw/airborne/modules/computer_vision/qrcode/qr_code.c
@@ -41,7 +41,7 @@ void qrcode_init(void)
 
 zbar_image_scanner_t *scanner = 0;
 
-bool_t qrscan(struct image_t *img)
+struct image_t* qrscan(struct image_t *img)
 {
   int i, j;
 
@@ -98,4 +98,6 @@ bool_t qrscan(struct image_t *img)
 // clean up
   zbar_image_destroy(image);
   //zbar_image_scanner_destroy(scanner);
+
+  return 0; // QRCode is not returning a new image.
 }
diff --git a/sw/airborne/modules/computer_vision/viewvideo.c b/sw/airborne/modules/computer_vision/viewvideo.c
index 8062987e49..656f9d3663 100644
--- a/sw/airborne/modules/computer_vision/viewvideo.c
+++ b/sw/airborne/modules/computer_vision/viewvideo.c
@@ -189,7 +189,7 @@ bool_t viewvideo_function(struct image_t *img)
   // Free all buffers
   image_free(&img_jpeg);
   image_free(&img_small);
-  return TRUE;
+  return 0; // No new images were created
 }
 
 /**