[Alan Anderson]

Indirectly, yes. If you know the actual size of what you're looking at, you can figure out how far away by how big it looks to the camera. Or if you know where it is relative to the camera mount's orientation, you can figure out its distance by how far away from center the camera needs to look in order to see it.

I figure many teams will be using the camera tilt angle and the known height of the vision target (plus a wee bit of trigonometry) to give an indication of the distance to the goal.