If a security camera is connected to the internet, all you need to know is its IP address to connect to it. Of course, if it encrypts its data (video and/or audio signal) before broadcasting to the internet, you won’t get any useful data, but if it doesn’t, you can just see what it sees and hear what it hears. You may need some software to understand its signal, but that’s not particularly hard to get.
Some security cameras intentionally disclose their IP addresses so anyone can see what it sees. Spiders also crawl through the internet looking for unsecured IP addresses that may be a security camera and connect to them. Either way, it’s trivial to generate a list of security cameras that anyone can connect to.
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