Karaf is an OSGi container, Servicemix is built on top of Karaf and has built-in support for ActiveMQ, Camel, CXF, Ode, etc. (via predefined functions, kits and configuration).
In short, Camel provides the integration / EIP trunk, but OSGi (Karaf or Servicemix) is a container for its deployment. Camel can also be deployed in other ways: in webapp (Tomcat, etc.), in ActiveMQ, stand-alone, with Spring, etc.
I asked similar questions about whether to use Karaf or Servicemix ...
Apache Karaf vs Servicemix
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