# MCUBench: A Benchmark of Tiny Object Detectors on MCUs

arXiv: https://arxiv.org/abs/2409.18866 · HTML: https://mlsanity.com/paper/2409.18866/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 28 references that are in the map.
- First posted on arXiv 27 Sep 2024.

## Builds on (most cited first, 12 of 12)

- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors](https://mlsanity.com/paper/2207.02696/) (2022)
- [Sigmoid-Weighted Linear Units for Neural Network Function Approximation in Reinforcement Learning](https://mlsanity.com/paper/1702.03118/) (2017)
- [DETRs Beat YOLOs on Real-time Object Detection](https://mlsanity.com/paper/2304.08069/) (2023)
- [Generalized Focal Loss: Learning Qualified and Distributed Bounding Boxes for Dense Object Detection](https://mlsanity.com/paper/2006.04388/) (2020)
- [YOLOv6 v3.0: A Full-Scale Reloading](https://mlsanity.com/paper/2301.05586/) (2023)

## Built on by (most cited first, 2 of 2)

- [Hardware-Aware YOLO Compression for Low-Power Edge AI on STM32U5 for Weeds Detection in Digital Agriculture](https://mlsanity.com/paper/2511.07990/) (2025)
- [ActNAS : Generating Efficient YOLO Models using Activation NAS](https://mlsanity.com/paper/2410.10887/) (2024)

## Abstract (arXiv)

We introduce MCUBench, a benchmark featuring over 100 YOLO-based object detection models evaluated on the VOC dataset across seven different MCUs. This benchmark provides detailed data on average precision, latency, RAM, and Flash usage for various input resolutions and YOLO-based one-stage detectors. By conducting a controlled comparison with a fixed training pipeline, we collect comprehensive performance metrics. Our Pareto-optimal analysis shows that integrating modern detection heads and training techniques allows various YOLO architectures, including legacy models like YOLOv3, to achieve a highly efficient tradeoff between mean Average Precision (mAP) and latency. MCUBench serves as a valuable tool for benchmarking the MCU performance of contemporary object detectors and aids in model selection based on specific constraints.