Fig. 6
From: Deep learning-based strategies for the detection and tracking of drones using several cameras
Comparison of detectors in a marine environment at far distance. Detections produced by lightweight YOLO architecture (green), cascaded Haar classifier (red) and Gaussian mixture model background subtractor (blue). There exists two birds, flying from left hand side toward right hand side on the upper half of the image and a drone approaching from horizon on the bottom half of the image, all three enclosed by green boxes. The footage is provided by [43]