# A Comprehensive Review of YOLO Architectures in Computer Vision: From YOLOv1 to YOLOv8 and YOLO-NAS

arXiv: https://arxiv.org/abs/2304.00501 · HTML: https://mlsanity.com/paper/2304.00501/

## Key facts

- Cited by 151 papers in the map (data through 14 Oct 2026).
- Builds on 78 of its 160 references that are in the map.
- First posted on arXiv 2 Apr 2023.

## Builds on (most cited first, 30 of 78)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [Densely Connected Convolutional Networks](https://mlsanity.com/paper/1608.06993/) (2016)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [Rethinking the Inception Architecture for Computer Vision](https://mlsanity.com/paper/1512.00567/) (2015)
- [mixup: Beyond Empirical Risk Minimization](https://mlsanity.com/paper/1710.09412/) (2017)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Going Deeper with Convolutions](https://mlsanity.com/paper/1409.4842/) (2014)
- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [Gaussian Error Linear Units (GELUs)](https://mlsanity.com/paper/1606.08415/) (2016)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [Aggregated Residual Transformations for Deep Neural Networks](https://mlsanity.com/paper/1611.05431/) (2016)
- [CBAM: Convolutional Block Attention Module](https://mlsanity.com/paper/1807.06521/) (2018)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [Deformable Convolutional Networks](https://mlsanity.com/paper/1703.06211/) (2017)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)

## Built on by (most cited first, 30 of 151)

- [YOLO advances to its genesis: a decadal and comprehensive review of the You Only Look Once (YOLO) series](https://mlsanity.com/paper/2406.19407/) (2024)
- [Data-Centric Evolution in Autonomous Driving: A Comprehensive Survey of Big Data System, Data Mining, and Closed-Loop Technologies](https://mlsanity.com/paper/2401.12888/) (2024)
- [A Comprehensive Survey of Convolutions in Deep Learning: Applications, Challenges, and Future Trends](https://mlsanity.com/paper/2402.15490/) (2024)
- [YOLOv8 to YOLO11: A Comprehensive Architecture In-depth Comparative Review](https://mlsanity.com/paper/2501.13400/) (2025)
- [RoboDexVLM: Visual Language Model-Enabled Task Planning and Motion Control for Dexterous Robot Manipulation](https://mlsanity.com/paper/2503.01616/) (2025)
- [Hybrid Reasoning Based on Large Language Models for Autonomous Car Driving](https://mlsanity.com/paper/2402.13602/) (2024)
- [Leveraging Model Fusion for Improved License Plate Recognition](https://mlsanity.com/paper/2309.04331/) (2023)
- [A Recurrent YOLOv8-based framework for Event-Based Object Detection](https://mlsanity.com/paper/2408.05321/) (2024)
- [The Coralscapes Dataset: Semantic Scene Understanding in Coral Reefs](https://mlsanity.com/paper/2503.20000/) (2025)
- [FedAIoT: A Federated Learning Benchmark for Artificial Intelligence of Things](https://mlsanity.com/paper/2310.00109/) (2023)
- [Enhanced Self-Checkout System for Retail Based on Improved YOLOv10](https://mlsanity.com/paper/2407.21308/) (2024)
- [Improving Small Drone Detection Through Multi-Scale Processing and Data Augmentation](https://mlsanity.com/paper/2504.19347/) (2025)
- [Upsampling DINOv2 features for unsupervised vision tasks and weakly supervised materials segmentation](https://mlsanity.com/paper/2410.19836/) (2024)
- [YOLOBench: Benchmarking Efficient Object Detectors on Embedded Systems](https://mlsanity.com/paper/2307.13901/) (2023)
- [NuSegDG: Integration of Heterogeneous Space and Gaussian Kernel for Domain-Generalized Nuclei Segmentation](https://mlsanity.com/paper/2408.11787/) (2024)
- [Robust Vision-Based Runway Detection through Conformal Prediction and Conformal mAP](https://mlsanity.com/paper/2505.16740/) (2025)
- [UnifiedVisionGPT: Streamlining Vision-Oriented AI through Generalized Multimodal Framework](https://mlsanity.com/paper/2311.10125/) (2023)
- [End-to-end information extraction in handwritten documents: Understanding Paris marriage records from 1880 to 1940](https://mlsanity.com/paper/2404.19329/) (2024)
- [R2Det: Exploring Relaxed Rotation Equivariance in 2D object detection](https://mlsanity.com/paper/2408.11760/) (2024)
- [Evaluation and Comparison of Visual Language Models for Transportation Engineering Problems](https://mlsanity.com/paper/2409.02278/) (2024)
- [Breaking the Illusion: Real-world Challenges for Adversarial Patches in Object Detection](https://mlsanity.com/paper/2410.19863/) (2024)
- [Deep Learning-Based Multi-Object Tracking: A Comprehensive Survey from Foundations to State-of-the-Art](https://mlsanity.com/paper/2506.13457/) (2025)
- [Venus: An Efficient Edge Memory-and-Retrieval System for VLM-based Online Video Understanding](https://mlsanity.com/paper/2512.07344/) (2025)
- [GorillaWatch: An Automated System for In-the-Wild Gorilla Re-Identification and Population Monitoring](https://mlsanity.com/paper/2512.07776/) (2025)
- [ICPR 2026 Competition on Low-Resolution License Plate Recognition](https://mlsanity.com/paper/2604.22506/) (2026)
- [Surround-View Fisheye Optics in Computer Vision and Simulation: Survey and Challenges](https://mlsanity.com/paper/2402.12041/) (2024)
- [Performance Evaluation of Semi-supervised Learning Frameworks for Multi-Class Weed Detection](https://mlsanity.com/paper/2403.03390/) (2024)
- [Weakly Supervised Intracranial Hemorrhage Segmentation with YOLO and an Uncertainty Rectified Segment Anything Model](https://mlsanity.com/paper/2407.20461/) (2024)
- [Fall Detection for Industrial Setups Using YOLOv8 Variants](https://mlsanity.com/paper/2408.04605/) (2024)
- [Generative AI-based Pipeline Architecture for Increasing Training Efficiency in Intelligent Weed Control Systems](https://mlsanity.com/paper/2411.00548/) (2024)

## Abstract (arXiv)

YOLO has become a central real-time object detection system for robotics, driverless cars, and video monitoring applications. We present a comprehensive analysis of YOLO's evolution, examining the innovations and contributions in each iteration from the original YOLO up to YOLOv8, YOLO-NAS, and YOLO with Transformers. We start by describing the standard metrics and postprocessing; then, we discuss the major changes in network architecture and training tricks for each model. Finally, we summarize the essential lessons from YOLO's development and provide a perspective on its future, highlighting potential research directions to enhance real-time object detection systems.