https://docs.google.com/spreadsheets/d/1qCacjqfo1PeyEHNDIFcy_HJeP2UA7bv3AsJl4qKgpiA/edit?usp=sharing
Did a quick test to see how the camera performs.
From this short sum, i could get about +/-20cm offset (at the most) with 20m/s speed. But most of the time an accuracy of +/-8cm. I think… 
If i lower the speed to 15m/s i would get +/-15cm but most of the time +/-6cm