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I branched Android Framebuffer VNC server (fbvncserver) here tools/anroid/fbvncserver.

This version can run on device and the emulator. The binary can be downloaded here: http://github.com/dankex/tools/downloads. It only needs to be pushed to the device to run

$ adb push fbvncserver /data/
$ adb shell
# cd /data
# chmod 777 fbvncserver
# ./fbvncserver

The server runs on port 5901 by default. It should support keyboard and pointer input from the VNC client. See the README file for more details.