This paper presents a system level design methodology and its implementation as CAD tool for the optimization of heterogeneous multiprocessor systems. These heterogeneous systems, consisting of dedicated as well as programmable processors, are highly suitable for performing complex schemes of image processing algorithms under real time constraints. It starts from a specication of the image processing scheme, explores the design space based on a nite set of parametrizable processor modules, and by using mixed integer linear programming as mathematical framework derives heterogeneous systems, being optimal in terms of area expense and throughput rate.