Many textbooks state that "baseline" resolution is Rs = 1.5. More accurately, that is "99% baseline resolution".
Resolution is the ratio of center-to-center separation divided by baseline width.
For a perfectly Gausian peak, the baseline width is 4σ. Therefore:
Rs = 1.0 is a 4σ separation
Rs = 1.5 is a 6σ separation
Rs = 2.0 is an 8σ separation
You can go to any statistics textbook and find tables of the percent of the peak area encompassed within a particular range of σ values. From memory, +/-2σ accounts for 95% of the area, and +/-3σ accounts for 99% of the area. for two equal-sized, Gaussian peaks, at Rs = 1.0, you are 2σ out from the center of each peak, so you have a 5% mutual overlap. At Rs = 1.5, you are 3σ out, so you have a 1% mutual overlap -- hence "99% baseline resolution". You can look up the appropriate values for any other resolution.
All of that said, Rod is exactly right:
Remember we are discussing the THEORETICAL separation of two IDEAL peaks, nothing necessarily of reality.