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Camel is designed to work with pretty much all kinds of transport and Data Format , in particular its been designed from the ground up to work nicely inside a web services stack, JMS or inside a JBI based ESB as well as working with any Data Format - not just SOAP - as well as implementing all the Enterprise Integration Patterns in both Java and Spring XML. Whereas Synapse is more focussed on being a mediation engine for Axis 2; assuming a web services enviromentenvironment with mostly SOAP as the payloads.

A more detailed write up is here (with a slight Synapse bias since the author mostly uses Synapse (smile)