A "baffle" is another word for enclosure, or box, around a speaker. As the interor volume of an enclosure gets bigger and bigger you get to a point where there's no change in the way the speaker behaves. It's like having the speaker in an infinitely large box.
For practical purposes I think anything above about 5 cubic feet is considered an infinite baffle condition. Most main speakers are designed for infinite baffle applications, meaning they don't need any enclosure at all. There are some subs that'll work ok that way too.
Hanging subs from the rear deck of a 79 Lincoln Town Car, the trunk is like the Grand Canyon. THAT's an infinite baffle!