Indoor Surveillance Security Robot with a Self-Propelled Patrolling Vehicle

Table 2

The distance and image limit of face detection.

Image size	Distance between face and IPCAM	Limit of face up angle	Limit of face down angle	Limit of face turn left angle	Limit of face turn right angle
640*480	<4.20 m	30°	15°	30°	30°
320*240	<2.25 m	30°	15°	30°	30°