[okennedy]

Inkscape has a filter that's been pretty reliable at generating vectors from raster inputs.

[pbnjeh]

IIRC, that is based on the utility potrace.

https://en.m.wikipedia.org/wiki/Potrace

potrace worked just fine for me when I needed to digitize some drawings that became a prominent part of a business's graphic design. Maybe a decade and a half ago.

Edit: I see now that Inkscape can do color by first decomposing into colors and then doing each of those separately.