How to prepare colored images for neural networks?
Your R,G, and B pixel values can be broken into 3 separate channels (and in most cases this is done for you). These channels are treated no differently than feature maps in higher levels of the network. Convolution extends naturally to more than 2 dimensions.

Imagine the greyscale, single-channel example. Say you have N feature maps to learn in the first layer. Then the output of this layer (and therefore the input to the second layer) will be comprised of N channels, each of which is the result of convolving a feature map with each window in your image. Having 3 channels in your first layer is no different. 

This tutorial does a nice job on convolution in general.

http://deeplearning.net/tutorial/lenet.html