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原文摘要

Dense optical flow allows small drones to avoid obstacles. However, few dense optical flow networks are designed for microcontrollers (MCUs) with neural accelerators, whose on-chip SRAM limits the input resolution. We present PACE-NAS, a macro-to-micro neural architecture search framework that decouples memory from latency: a macro design fixes the backbone and its peak SRAM, and a micro design searches operators and depths to trade accuracy against compiler-estimated latency. We apply it to EdgeFlowNet on a Grove Vision AI V2 board (Ethos-U55), where profiling locates the peak SRAM at the full-resolution output head. Replacing transposed convolutions with bilinear upsampling and convolutions lowers the peak SRAM by 18%, and two lightweight context modules lower the endpoint error (EPE) without raising the peak. All searched subnets share this peak, so the search needs no memory constraint. We name the Pareto-optimal models MCUFlowNet; the fastest variant, MCUFlowNet-S, runs 1.76x faster than a retrained EdgeFlowNet at a 1.6% higher EPE and, in simulated forest flights at 2 m/s, reaches the goal without collision in 51.5% of trials, against 41.8%. PACE-NAS also applies to semantic segmentation, where a searched PIDNet-S variant runs 1.17x faster at similar accuracy. Code is available at https://gitlab.kuleuven.be/emedia-research-lab/esat-stadius/mcuflownet/mcuflownet.