From AVSForum/Digital Forum:
HDMI is digital. It is capable of higher resolution and color sampling compared to Component and RGB. The data in the HDMI signal can be either RGB or Component.
HDMI output from tape or from data that has already been compressed does not add any quality to the output and you would be better off getting the compressed data directly via FireWire, USB, or whatever digital transfer method the camera supports.
Component is analog. Usually "component video" refers to YPbPr component video, though in some cases it can refer to RGB, RGBS, or RGBHV signals instead.
RGB usually is analog (except for DVI), sometimes having separate sync signals (S in RGBS, or H & V in RGBHV). RGB often refers to computer-type signals, though it is perfectly legal to have a (television) video-type signal as RGB as well. Sony equipment usually calls this "Video GBR."