You could try rdesktop, for example.
If you want performance, disable encryption if possible.
Better than Matlab would be OpenCV or the like. I would say Matlab is too heavy to be run on a BeagleBoard!
Good luck with your TCC meu amigo!
Att,
Fernando Akira Endo
2012/7/11 Jesus Cristo <d4rkw4v3@gmail.com>