Table 1.

Summary of the overview on related work.

Method	Image Processing Functions		Notes
	Detection	Tracking
[29]	Trained cascade classifier based on FAST features	N/A	A UAV-UAV distance estimation method is included
[31]	N/A	Feature matching (FAST), optical flow, local geometric filter	An additional outlier removal strategy is included (local outlier factor module)
[32]	Background motion compensation and optical flow	Kalman filtering	False alarms arising from the background motion are limited
[33]	Deep learning	N/A	Detection against a complex background is enabled
Our method	Template matching	Template matching, morphological filtering	Cooperation is exploited by aiding image processing based on the exchange of navigation data