Raster to Vector Conversion

I've just downloaded the Linux Binaries for GRASS hoping to find a
utility which can convert a raster image to a dxf file. I have 20
source files which are 5100x3300 bitmaps in targa format. The
bitmaps are scans of floor plans which I need to convert to dxf for
import into AutoCAD. Is this something GRASS can do? If so, are
there pitfalls? Is the output quality high?

I would endeavor to find this out for myself, but I've got to produce
drawings for bids in one and a half weeks. I appreciate any advice
you can lend on this topic, or pointers to other Raster to Vector
resources.

Thanks,
Scott
email: srouten@antimony.service.indiana.edu