1. Save Inkscape svg images to pdf+latex
2. Convert to eps using the following BASH script, which contains the following steps: (1) use pdflatex to generate pdf (2) use pdfcrop to crop the pdf (3) use pdftops to convert to eps.
This the header.tex:
This is the tail.tex:
The tool pdfcrop.pl can be downloaded from http://www.ctan.org/tex-archive/support/pdfcrop.