720x480 as roughly 30fps is the best you can do on DVD spec. The only thing you can play with to increase quality is the bitrate since that will determine the level of compression. If you're using a high def camera, you're going to lose quality no matter how you slice it. Technically you can get around 11 or 12 mBit/s bandwidth but audio and video are capped at 9.8 (thanks stupid subtitles). Even if you go to the spec max of 9.8, you're going to run into some compatibility issues depending on the player. Your bitrate can vary throughout the video. I'd suggest using a lower bitrate until you get into the action and then upping the bitrate. If you do it that way, you can make your DVD longer while preventing artifacting during the high action scenes. It'll be a pain to encode that way though.
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