Fig 8. Graphs of our breach detection’s computation time versus the number of detected pedestrians.

The graph shows the computation times while running our breach detection implementations for the RGB-D camera on a robot-mounted laptop, and the wall-mounted CCTV camera on a desktop (see Implementation section for specifications). The values were recorded while evaluating in scenario 4 with added human shaped cardboard cutouts to get the total number of detected pedestrians to be 13. We observe that based on the FOV and sensing regions of the two cameras, the corresponding computation times in the laptop and desktop are satisfactory.