Youtube’s own turtorial:
Resolution Recommended: 1280 x 720 (16×9 HD) and 640 x 480 (4:3 SD)
There is no required minimum resolution – in general the higher resolution the better and HD resolution is preferred. For older content, lower resolution is unavoidable.
Bit rate Because bit-rate is highly dependent on codec there is no recommended or minimum value. Videos should be optimized for resolution, aspect ratio and frame rate rather than bit rate.
Frame rate The frame rate of the original video should be maintained without re-sampling. In particular pulldown and other frame rate re-sampling techniques are strongly discouraged.
Codec H.264, MPEG-2 or MPEG-4 preferred.
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