Bootloader in an embedded system is the first code to run when the system is powered on. Bootloader typically is stored in BIOS or flash memory. It performs low level hardware initiailization and then pass control to the linux kernel.
Some architecture and bootloader (e.g. Power with U-Boot) can boot the vmlinuex directly (after converting ELF to binary form). In this case, the image is called uImage (a compressed vmlinux in U-Boot header). In other architecture, an intermediate step is required to set the right context for vmlinux before control is handed over.
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