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If you have a static IP address from your ISP, the answer is "Yes", though you have to 'port forward' the request via your router if you are wanting to directly connect to the camera. It is still possible if you have a non-static IP address, though a workaround is necessary in order to communicate IP address updates.
https://www.whatismyip.com/port-forwarding/
You also have to ensure your firewall is set to accept requests from whomever is allowed to access the camera feed.
