Your infrastructure team has established an interconnect link between Google Cloud and the on-premises network, providing a direct and secure connection. You are tasked with designing a high-throughput streaming pipeline to ingest real-time data from an Apache Kafka cluster that is hosted within the on-premises environment. The goal is to store this data in BigQuery, Google Cloud's fully managed, serverless data warehouse, while ensuring minimal latency in the data transfer and storage process. What steps should you take to achieve this objective?