South Korean troops fired warning shots after North Korean soldiers briefly crossed the border earlier this week, Seoul's military said Tuesday, with tensions high over Pyongyang's barrage of trash-carrying balloons and the South's retaliatory loudspeaker campaign.

The Sunday incursion over the line that separates the two militaries took place in an overgrown area of the Demilitarized Zone, the heavily fortified border area, and was likely accidental, the Joint Chiefs of Staff (JCS) said.

Relations between the two Koreas — technically still at war as the 1950-1953 conflict ended in an armistice rather than a peace treaty — are at one of their lowest points in years.