Once you have the image stored as a file, you can transfer that using any one of dozens of file transfer protocols, as long as it is supported by both ends of the link.
We would really like to help, but it's impossible for anyone to read your mind and see what you put on both ends of the link.
And I certainly would like to help someone building a robot that can use a double crossover merging interchange (DCMI).
(Hint: it's not too late to edit your question and add a few more details).
If, hypothetically, you have lots of RF noise and you're trying to transfer a file between two Raspberry Pi machines over an XBee connection,
you might want to try the ZMODEM protocol.
ZMODEM was designed to reliably transfer files over high-noise, high-latency, slow dial-up links.
(I did a quick search and turned up this Zmodem on Raspberry Pi tutorial; you can probably find a better tutorial with a little more search time).