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According to Webster's, surveillance is close and continuous observation and security is precautions taken to guard against crime, attack, sabotage, espionage, etc.
Surveillance camera systems are usually the first line of detection/protection. They are usually under manned systems with their signals being fed into a recorder or numerous monitors watched by one person. They usually have a fixed focal point.
Security systems are the second line of defense/protection. Security camera systems are usually better manned than surveillance systems. Security cameras usually have a variable focal point allowing the operator to 'zoom'. PTZ security cameras allow the operator to Pan, Tilt, and Zoom.
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