# DSORT-MCU: Detecting Small Objects in Real-Time on Microcontroller Units

arXiv: https://arxiv.org/abs/2410.16769 · HTML: https://mlsanity.com/paper/2410.16769/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 28 of its 45 references that are in the map.
- First posted on arXiv 22 Oct 2024.

## Builds on (most cited first, 28 of 28)

- [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)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [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)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [Learning both Weights and Connections for Efficient Neural Networks](https://mlsanity.com/paper/1506.02626/) (2015)
- [EfficientDet: Scalable and Efficient Object Detection](https://mlsanity.com/paper/1911.09070/) (2019)
- [MCUNet: Tiny Deep Learning on IoT Devices](https://mlsanity.com/paper/2007.10319/) (2020)
- [Pruning and Quantization for Deep Neural Network Acceleration: A Survey](https://mlsanity.com/paper/2101.09671/) (2021)
- [Scaled-YOLOv4: Scaling Cross Stage Partial Network](https://mlsanity.com/paper/2011.08036/) (2020)
- [Drone-based Object Counting by Spatially Regularized Regional Proposal Network](https://mlsanity.com/paper/1707.05972/) (2017)
- [Single-Shot Refinement Neural Network for Object Detection](https://mlsanity.com/paper/1711.06897/) (2017)
- [Towards Large-Scale Small Object Detection: Survey and Benchmarks](https://mlsanity.com/paper/2207.14096/) (2022)
- [Slicing Aided Hyper Inference and Fine-tuning for Small Object Detection](https://mlsanity.com/paper/2202.06934/) (2022)
- [MCUNetV2: Memory-Efficient Patch-based Inference for Tiny Deep Learning](https://mlsanity.com/paper/2110.15352/) (2021)
- [Machine Learning for Microcontroller-Class Hardware: A Review](https://mlsanity.com/paper/2205.14550/) (2022)
- [PP-PicoDet: A Better Real-Time Object Detector on Mobile Devices](https://mlsanity.com/paper/2111.00902/) (2021)
- [TinyissimoYOLO: A Quantized, Low-Memory Footprint, TinyML Object Detection Network for Low Power Microcontrollers](https://mlsanity.com/paper/2306.00001/) (2023)
- [PhiNets: a scalable backbone for low-power AI at the edge](https://mlsanity.com/paper/2110.00337/) (2021)
- [Ultra-Efficient On-Device Object Detection on AI-Integrated Smart Glasses with TinyissimoYOLO](https://mlsanity.com/paper/2311.01057/) (2023)
- [Flexible and Fully Quantized Ultra-Lightweight TinyissimoYOLO for Ultra-Low-Power Edge Systems](https://mlsanity.com/paper/2307.05999/) (2023)
- [Efficient ConvNet-based Object Detection for Unmanned Aerial Vehicles by Selective Tile Processing](https://mlsanity.com/paper/1911.06073/) (2019)
- [Marsellus: A Heterogeneous RISC-V AI-IoT End-Node SoC with 2-to-8b DNN Acceleration and 30%-Boost Adaptive Body Biasing](https://mlsanity.com/paper/2305.08415/) (2023)
- [Enhancing Lightweight Neural Networks for Small Object Detection in IoT Applications](https://mlsanity.com/paper/2311.07163/) (2023)

## Built on by (most cited first, 4 of 4)

- [Hardware-Aware YOLO Compression for Low-Power Edge AI on STM32U5 for Weeds Detection in Digital Agriculture](https://mlsanity.com/paper/2511.07990/) (2025)
- [TinyVLM: Zero-Shot Object Detection on Microcontrollers via Vision-Language Distillation with Matryoshka Embeddings](https://mlsanity.com/paper/2603.00136/) (2026)
- [Latent Replay Detection: Memory-Efficient Continual Object Detection on Microcontrollers via Task-Adaptive Compression](https://mlsanity.com/paper/2603.00138/) (2026)
- [MR2-ByteTrack: CNN and Transformer-based Video Object Detection for AI-augmented Embedded Vision Sensor Nodes](https://mlsanity.com/paper/2605.15423/) (2026)

## Abstract (arXiv)

Advances in lightweight neural networks have revolutionized computer vision in a broad range of IoT applications, encompassing remote monitoring and process automation. However, the detection of small objects, which is crucial for many of these applications, remains an underexplored area in current computer vision research, particularly for low-power embedded devices that host resource-constrained processors. To address said gap, this paper proposes an adaptive tiling method for lightweight and energy-efficient object detection networks, including YOLO-based models and the popular FOMO network. The proposed tiling enables object detection on low-power MCUs with no compromise on accuracy compared to large-scale detection models. The benefit of the proposed method is demonstrated by applying it to FOMO and TinyissimoYOLO networks on a novel RISC-V-based MCU with built-in ML accelerators. Extensive experimental results show that the proposed tiling method boosts the F1-score by up to 225% for both FOMO and TinyissimoYOLO networks while reducing the average object count error by up to 76% with FOMO and up to 89% for TinyissimoYOLO. Furthermore, the findings of this work indicate that using a soft F1 loss over the popular binary cross-entropy loss can serve as an implicit non-maximum suppression for the FOMO network. To evaluate the real-world performance, the networks are deployed on the RISC-V based GAP9 microcontroller from GreenWaves Technologies, showcasing the proposed method's ability to strike a balance between detection performance (58% - 95% F1 score), low latency (0.6 ms/Inference - 16.2 ms/Inference), and energy efficiency (31 uJ/Inference - 1.27 mJ/Inference) while performing multiple predictions using high-resolution images on a MCU.