تفاوت haarcascades و haarcascades_cuda و hogcascades و lbpcascades

LBP is faster (a few times faster) but less accurate. (10-20% less than Haar).

HOG is usually better for human detection, than Haar. I have only experience in this so I thought I'd give some input on that. However, the limitation of HOG is that the human must be within a "perfect" area on the screen. Too close, it won't detect the human. Too far, it won't detect the human.

I have had better luck with HOG than Haar. Haar gave me too many false positives.

I have been trying to use HAAR to detect human, and it turns out to give too many false positives. I think HAAR is only suitable for face or eye detection.

since your camera is in the sky, the human is pretty small in the image and got a whole body shape. HOG would be a better choice.