These answers are totally my opinion
Picasso is an easy to use image loader, same goes for Imageloader. Fresco uses a different approach to image loading, i haven't used it yet but it looks too me more like a solution for getting image from network and caching them then showing the images. then the other way around like Picasso/Imageloader/Glide which to me are more Showing image on screen that also does getting images from network and caching them.
Glide tries to be somewhat interchangeable with Picasso.I think when they were created Picasso's mind set was follow HTTP spec's and let the server decide the caching policies and cache full sized and resize on demand. Glide is the same with following the HTTP spec but tries to have a smaller memory footprint by making some different assumptions like cache the resized images instead of the fullsized images, and show images with RGB_565 instead of RGB_8888. Both libraries offer full customization of the default settings.
As to which library is the best to use is really hard to say. Picasso, Glide and Imageloader are well respected and well tested libraries which all are easy to use with the default settings. Both Picasso and Glide require only 1 line of code to load an image and have a placeholder and error image. Customizing the behaviour also doesn't require that much work. Same goes for Imageloader which is also an older library then Picasso and Glide, however I haven't used it so can't say much about performance/memory usage/customizations but looking at the readme on github gives me the impression that it is also relatively easy to use and setup. So in choosing any of these 3 libraries you can't make the wrong decision, its more a matter of personal taste. For fresco my opinion is that its another facebook library so we have to see how that is going to work out for them, so far there track record isn't that good. Like the facebook SDK is still isn't officially released on mavenCentral I have not used to facebook sdk since sept 2014 and it seems they have put the first version online on mavenCentral in oct 2014. So it will take some time before we can get any good opinion about it.
between the 3 big name libraries I think there are no significant differences. The only one that stand out is fresco but that is because it has a different approach and is new and not battle tested.