Pictures!
http://www.wdwnews.com/viewimage.aspx?imageid=114567&siteid=1
http://www.wdwnews.com/viewimage.aspx?imageid=114571&siteid=1
Video! (Kermit appears at about halfway through)
http://www.wdwnews.com/viewvideo.aspx?videoid=114573&siteid=1
I would open the page and then come back in a few minutes, it takes a while to load all the way through.
So far the only Muppet sightings I've heard of are Kermit and Miss Piggy.
And apparently the event took place in several phases throughout the day, with an unveiling of a world record for largest canned-food structure in the morning (which also featured Ty Pennington), the parade in the afternoon, and a concert with Disney Channel celebrities that just concluded.
Another Muppet "connection" is that Dinner Impossible (which had a Sesame Street-themed episode a few months ago) had a "mission" at the event tonight.
I have yet to find any pictures or video of the parade that show Kermit or Piggy.