Table 6: The averaged execution time, detection rate, and the averaged multiple error for the GA-based algorithm, the BFOA method, and the proposed CAB algorithm, considering six test images (shown by Figures 6 and 7).

Image Averaged execution time ± standard deviation (s) Success rate (DR) (%) Averaged ME ± standard deviation GA BFOA CAB GA BFOA CAB GA BFOA CAB Synthetic images                    (a) 2.23 ± (0.41) 1.71 ± (0.51) 0.21 ± (0.22) 88 99 100 0.41 ± (0.044) 0.33 ± (0.052) 0.22 ± (0.033)  (b) 3.15 ± (0.39) 2.80 ± (0.65) 0.36 ± (0.24) 79 92 99 0.51 ± (0.038) 0.37 ± (0.032) 0.26 ± (0.041)  (c) 4.21 ± (0.11) 3.18 ± (0.36) 0.20 ± (0.19) 74 88 100 0.48 ± (0.029) 0.41 ± (0.051) 0.15 ± (0.036) Natural images                    (a) 5.11 ± (0.43) 3.45 ± (0.52) 1.10 ± (0.24) 90 96 100 0.45 ± (0.051) 0.41 ± (0.029) 0.25 ± (0.037)  (b) 6.33 ± (0.34) 4.11 ± (0.14) 1.61 ± (0.17) 83 89 100 0.81 ± (0.042) 0.77 ± (0.051) 0.37 ± (0.055)  (c) 7.62 ± (0.97) 5.36 ± (0.17) 1.95 ± (0.41) 84 92 99 0.92 ± (0.075) 0.88 ± (0.081) 0.41 ± (0.066)