Yes, in Inkscape, in the Trace Bitmap dialog box select "Edge Detection" under the Mode tab. (I have used Sonic The Hedgehog as an example, my daughter loves him)
I imported the JPEG file. Selected Trace Bitmap with Edge Detection Selected and the black and white outline to the right of the original is the result. I then deleted the original JPEG and saved the file as a DXF*(see below). In the "Desktop Cutting Plotter" dialog box that appears I select the Robo Master output option and deselect the LWPOLYLINE option.
I then opened the DXF in ArchiCAD and as you can see by the selection mostly splines are created. But they are selectable and editable for further refinement. This method is very effective for creating crown moulding and other profiles.
*Note: This time I used the default DXF output format that comes with Inkscape - using my MAC this time and the Better DXF plugin is not available for MAC but it seems to work fine despite that.