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Table 2 Overall approximate true positive and false alarm rates of three different detectors, for different settings and environments

From: Deep learning-based strategies for the detection and tracking of drones using several cameras

 True positiveFalse alarm
Lightweight YOLO0.910
Cascaded Haar0.950.42
GMM back. sub.0.980.31
  1. The results are based on 800 frames from 20 videos (40 from each video, non-consecutive frames.)