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So even if you have insanely low visibility of 10-20, guards/bandits can still see you about 5-10 meters away in the middle of the day.
When it's night, even with high visibility, the 'light' in the area multiplies it and can render it down to near zero in pitch darkness.
How AI detection works is that once they 'detected' you, they have 100% visibility of you through walls for X seconds until this 'memory' of your state starts to fade.
This is why when you trespass and a AI see you in a trespass zone, they will be 'detected' and will always see you until you leave the area of which they lose that detection, or it starts fading if they are still spotting you until you leave.
This is why when you enter trespass area that you stay undetected first, and even if they hear you, as long as you immediately hide out of sight, they will go to the direction of the noise, investigate, and then walk away. If you continue to emit noise, they'll go to your updated location, and this varies based on how noisy you are.
Noise is a bigger risk and giveaway than visibility.
You can 'force' a NPC to leave his post if you bump into his face, causing him to detect you, and then immediately run into a upstairs trespass zone to get his attention (or wear a lot of armor and be noisy so he runs up to check), and then eliminate all traces of noise and knock him out when he isn't looking. It's one way to bait NPCs out of visible areas in Skalitz if you want to do some looting.
Still have a hard time landing hits on things 25 meters away though because the aim will sway.
/shrug