Hey B,
I believe Clay has made the point. If the Infopath form does not use any VSTA Code, you can publish it to your sharepoint site without Admin Approval by making the Trust Level of the form as "Domain Level".
Let me guide you the Process to do that,
1. Open your infopath form, point to Tools -> Form Options -> Security and trust.
2. Uncheck the "Automatically detect Security level" and forcibly make it to point "Domain".
3.Set the Site collection URL to "Compatibility" section, where you want to publish the Infopath form.(Eg:http://serverName:port or http://abc.com)
4.Click on "Design Checker" on the RHS of Infopath form "Design Tasks" pane.(Make sure 0 errors)
5.Save the infopath form and Publish the same.
To Publish the form:
Go to File -> Publish -> To a Sharepoint Server With or Without Infopath Services -> Set the Site Collection URL ->Check the "Enable this form to be filled out By Browser" -> Document Library -> Update the form library U want to contain the Infopath form.
Now in infopath form library, where u ve published the Infopath,
Go to library setting->Advanced Settings->Allow Managemet of Content types(Say Yes) ->Display as Web Page
Bingo, this will open your Infopath form in Browser.
NOTE : If you are making the Trust level of Infopath as Domain Level,No need for Admin Approval nad hence no need of Central Administration and for Full Level security the reverse is true.