2.5 years have passed, I learned a lot about Raspberry cameras (I made Raspberry v1/v2 cameras do high framerate capturing with up to 750fps/1007fps), on servo and stepper PT camera systems, last year I made v1 camera do global external shutter captures and was able to capture 109m/s airgun pellet inflight multiple times in a single frame.
1.5 years ago I did buy another caterpillar robot platform, that comes with 330rpm gear motors and is even slower than the platform reported in this thread. But I replaced the two 330rpm gear motors with same form factor 1500rpm gear motors, but suffered from Chinese only assembly instructions even using Google translate. The 1500rpm gear motors will allow for >5m/s, while current thread platform motors maximally allowed for 2.4m/s.
A month ago I found a youtube T101 assembly instruction video and built my two robots. No Arduino (Due) anymore, Pi only (ZeroW for control by Wifi joystick, Pi3A+ with 4 cores for autonomous driving based on live video frame processing).
The currently maximal speed I measured inhouse for raspcatbot is 2.73m/s or 9.8km/h speed at that moment (only 80% power, motors, Pi and onboard 10W light are powered from 4S 1300mAh 95C(!) lipo). This is from a Raspberry v2 camera capturing scene from side at 100fps framerate, with 200µs shutter time, scene lighted by 5000lm led from side). Until line following algorithm will work, I made rapcatbot a "cable car", so it keeps track forcefully:

Associated youtube video:
https://www.youtube.com/watch?v=hp7pdkDZ9dg&feature=youtu.be
raspcatbot has bright light lighting the scene, so it can follow line even in dark room:

Last year I got good connection to Lee, CEO of Arducam, and he provided quite some sample cameras to me for testing (0.3/1.0/2.0MP monochrome global shutter and 13/16MP color rolling shutter cameras). I do go with the
25.99$ ov7251 monochrome global shutter camera for autonomous robot camera controlled line following. I mounted the camera tilted, so it provides forward view from 5cm ahead up to more than 1m:

I do normalize 320x240 frames at 204fps framerate, and then use threshold=80 for b&w image of course to determine the line:

Finally, this is raspcatbot backward direction drive, without onboard light at that time.
Animation plays at 20fps, 10× slower than real:

I started "raspcatbot" thread a month ago, currently contains 43 postings mostly from myself:
https://www.raspberrypi.org/forums/viewtopic.php?f=37&t=267999P.S:
I do power the 12V 1500rpm motors with 16.8V with fully loaded 4S lipo, works fine.
Jacked up I did measure free running motor speed as >1800rpm with laser tachometer:

P.P.S:
I used Arduino IDE for (ESP32 based) "Wifi joystick" to control slow 330rpm raspcatbot:
https://esp32.com/viewtopic.php?f=19&t=14803
The ramp that current thread caterpillar robot was never able to drive uphill was no problem anymore:
https://www.youtube.com/watch?v=6zQk2KKF3mM&feature=youtu.be