Thousands of demonstrators took to the streets of Caracas, Venezuela's capital in support of President Nicolás Maduro - and his self-proclaimed interim successor Juan Guaidó.

Mr Guaidó said the country's opposition movement would "carry on in the streets". Mr Maduro told supporters he was the only president of Venezuela.

He declared himself president last month and is supported by the US and several Latin American countries.

The stand-off began days after Mr Maduro was sworn in for a second term, following disputed elections which many opposition leaders did not contest because they were in jail or boycotting it.

Mr Guaidó, who heads Venezuela's National Assembly, says the constitution allows him to assume power temporarily when the president is deemed illegitimate.

Addressing thousands of supporters in the capital Caracas, Mr Guaidó said protests would continue until his supporters achieved "freedom".

But a large pro-Maduro crowd gathered to mark the 20th anniversary of the rise to power of his predecessor, the socialist leader Hugo Chávez. Mr Maduro accused international media of "making invisible" [not showing] demonstrations by pro-government supporters.