I am not sure if I understood your question correctly. Do you want to mount the camera on the robot as a sensor?
If you want to use the camera on the robot as a sensor for detecting e.g. the line, the victims or the evacuation point, it is definitely not forbidden. We would love to see some well-working pattern matching algorithms during the runs.
PS: there was a thread from the Soccer league about Open CV, you might want to check it: https://junior.forum.robocup.org/t/computer-vision-opencv/109