This is similar to other questions here (like this one or this one), but I couldn't find one that was identical to it.
The scenario: a small spaceship (10-20 meters in size), or possibly a small fleet of half a dozen of them, is approaching present-day Earth from the outer solar system. We have no particular reason to be expecting it, so we're not actively trying to overcome any "stealth" technology it might be using. Assuming the people who built the ship wanted it to go unnoticed and had a slightly better tech level as our own, how close could it get to Earth before it was spotted by the public? If the answer is "not very close at all", then how advanced would their technology have to be to change that?