# SBCFormer: Lightweight Network Capable of Full-size ImageNet Classification at 1 FPS on Single Board Computers

arXiv: https://arxiv.org/abs/2311.03747 · HTML: https://mlsanity.com/paper/2311.03747/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 59 of its 73 references that are in the map.
- First posted on arXiv 7 Nov 2023.

## Builds on (most cited first, 30 of 59)

- [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)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [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)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [Training data-efficient image transformers & distillation through attention](https://mlsanity.com/paper/2012.12877/) (2020)
- [MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applications](https://mlsanity.com/paper/1704.04861/) (2017)
- [Searching for MobileNetV3](https://mlsanity.com/paper/1905.02244/) (2019)
- [Pyramid Vision Transformer: A Versatile Backbone for Dense Prediction without Convolutions](https://mlsanity.com/paper/2102.12122/) (2021)
- [Linformer: Self-Attention with Linear Complexity](https://mlsanity.com/paper/2006.04768/) (2020)
- [ShuffleNet: An Extremely Efficient Convolutional Neural Network for Mobile Devices](https://mlsanity.com/paper/1707.01083/) (2017)
- [ShuffleNet V2: Practical Guidelines for Efficient CNN Architecture Design](https://mlsanity.com/paper/1807.11164/) (2018)
- [Tokens-to-Token ViT: Training Vision Transformers from Scratch on ImageNet](https://mlsanity.com/paper/2101.11986/) (2021)
- [SqueezeNet: AlexNet-level accuracy with 50x fewer parameters and <0.5MB model size](https://mlsanity.com/paper/1602.07360/) (2016)
- [MnasNet: Platform-Aware Neural Architecture Search for Mobile](https://mlsanity.com/paper/1807.11626/) (2018)
- [CrossViT: Cross-Attention Multi-Scale Vision Transformer for Image Classification](https://mlsanity.com/paper/2103.14899/) (2021)
- [Going deeper with Image Transformers](https://mlsanity.com/paper/2103.17239/) (2021)
- [PVT v2: Improved Baselines with Pyramid Vision Transformer](https://mlsanity.com/paper/2106.13797/) (2021)
- [A Survey on Visual Transformer](https://mlsanity.com/paper/2012.12556/) (2020)
- [MobileViT: Light-weight, General-purpose, and Mobile-friendly Vision Transformer](https://mlsanity.com/paper/2110.02178/) (2021)
- [Twins: Revisiting the Design of Spatial Attention in Vision Transformers](https://mlsanity.com/paper/2104.13840/) (2021)
- [MaxViT: Multi-Axis Vision Transformer](https://mlsanity.com/paper/2204.01697/) (2022)
- [LeViT: a Vision Transformer in ConvNet's Clothing for Faster Inference](https://mlsanity.com/paper/2104.01136/) (2021)
- [GhostNet: More Features from Cheap Operations](https://mlsanity.com/paper/1911.11907/) (2019)
- [Early Convolutions Help Transformers See Better](https://mlsanity.com/paper/2106.14881/) (2021)
- [Rethinking Spatial Dimensions of Vision Transformers](https://mlsanity.com/paper/2103.16302/) (2021)

## Built on by (most cited first, 9 of 9)

- [PolaFormer: Polarity-aware Linear Attention for Vision Transformers](https://mlsanity.com/paper/2501.15061/) (2025)
- [iFormer: Integrating ConvNet and Transformer for Mobile Application](https://mlsanity.com/paper/2501.15369/) (2025)
- [CTA-Net: A CNN-Transformer Aggregation Network for Improving Multi-Scale Feature Extraction](https://mlsanity.com/paper/2410.11428/) (2024)
- [Depth Matters: Exploring Deep Interactions of RGB-D for Semantic Segmentation in Traffic Scenes](https://mlsanity.com/paper/2409.07995/) (2024)
- [SAGA: Selective Adaptive Gating for Efficient and Expressive Linear Attention](https://mlsanity.com/paper/2509.12817/) (2025)
- [Norm×Direction: Restoring the Missing Query Norm in Vision Linear Attention](https://mlsanity.com/paper/2506.21137/) (2025)
- [A Lightweight Convolution and Vision Transformer integrated model with Multi-scale Self-attention Mechanism](https://mlsanity.com/paper/2508.16884/) (2025)
- [Cascaded Multi-Scale Attention for Enhanced Multi-Scale Feature Extraction and Interaction with Low-Resolution Images](https://mlsanity.com/paper/2412.02197/) (2024)
- [Exploration of Low-Cost but Accurate Radar-Based Human Motion Direction Determination](https://mlsanity.com/paper/2507.22567/) (2025)

## Abstract (arXiv)

Computer vision has become increasingly prevalent in solving real-world problems across diverse domains, including smart agriculture, fishery, and livestock management. These applications may not require processing many image frames per second, leading practitioners to use single board computers (SBCs). Although many lightweight networks have been developed for mobile/edge devices, they primarily target smartphones with more powerful processors and not SBCs with the low-end CPUs. This paper introduces a CNN-ViT hybrid network called SBCFormer, which achieves high accuracy and fast computation on such low-end CPUs. The hardware constraints of these CPUs make the Transformer's attention mechanism preferable to convolution. However, using attention on low-end CPUs presents a challenge: high-resolution internal feature maps demand excessive computational resources, but reducing their resolution results in the loss of local image details. SBCFormer introduces an architectural design to address this issue. As a result, SBCFormer achieves the highest trade-off between accuracy and speed on a Raspberry Pi 4 Model B with an ARM-Cortex A72 CPU. For the first time, it achieves an ImageNet-1K top-1 accuracy of around 80% at a speed of 1.0 frame/sec on the SBC. Code is available at https://github.com/xyongLu/SBCFormer.