Table 2. The percentage of breaches detected by the robot-CCTV hybrid setup with different numbers of walking pedestrians.

Total number of pedestrians	Number of non-compliant groups at any instant	Breach detection accuracy (for Robot-CCTV Hybrid)
2	1	89%
3 (2 + 1)	1	88%
4 (2 + 2)	2	89.50%
5 (2 + 3)	2	93%
6 (2 + 2 + 2)	3	89.33%
6 (3 + 3)	2	96.50%

The table shows the effectiveness of the robot-CCTV hybrid system in accurately detecting the actual number of social distancing breaches in the environment over a period of 60 seconds. Each trial is repeated five times and the results are averaged. The first column indicates the total number of pedestrians and how they are split while walking (eg. 2 + 1 indicates two people walking together and one person walking alone). The high breach detection accuracy denotes that our method and setup are effective in detecting the correct number of breaches in the environment.