This shouldn't be too hard. I assume Camino stores its bookmarks in HTML format, like Firefox. If that's the case, then the standard "Import Bookmarks" feature should work. Since Camino probably won't be detected, you'll have to choose other and find the bookmark file manually. I don't use Camino, so I don't know what folder it stores its bookmarks in.
Should this fail for some reason, you could always use Firefox as an intermediate step, which I know will work when importing to Shiira, Safari, OmniWeb, or any other WebCore browser.