Table 1.

Comparison of the studies on the visual detection of aerial vehicles.

Study	Vehicle	Detection Method	Detection Performance	Motion Blur	Training Time	Testing Time	Background Complexity	Environment	Distance Estimation
Lin et al., 2014	mUAV	Boosted cascaded classifiers with Haar-like features	No	No	No	No	Medium	Outdoor	Yes (low accuracy)
Zhang et al., 2014	mUAV	Boosted cascaded classifiers with Haar-like features	No	No	No	No	Medium	Outdoor	Yes (low accuracy)
Petridis et al., 2008	Aircraft	Boosted cascaded classifiers with Haar-like features	Yes	No	No	No	High	Outdoor	No
Dey et al., 2009; 2011	Aircraft	Morphological filtering	Yes	No	NA	No	Low	Outdoor	No
Lai et al., 2011	mUAV	Morphological filtering	Yes	Yes	NA	Yes	High	Outdoor	No
Current study	mUAV	Boosted cascaded classifiers with Haar-like, LBP and HOG features	Yes	Yes	Yes	Yes	High	Indoor and Outdoor	Yes