The most obvious answer is: it all depends. In reality, there are some things that can be said.
All of the containers incur a modest amount of overhead, of the order of (perhaps) a couple of pointers and a couple of integers, at most. You can find out how much if you really want to know, but it will be constant and quite small, depending on the implementation.
Where the C++ standard helps you is that it places requirements on the storage part of the container. Because iterators are (more or less) equivalent to pointers, stack elements are placed at consecutive memory locations with the same alignment as an array of the same items. You can predict this part.
And where it lets you down again is that there is no limit on the amount of 'slack' space. The container might contain 5 elements and have enough space for 500. This will again depend on the implementation.
So it all depends. You'll just have to try it and see.