yolo 4dCompared to the YOLOv4, the YOLOV4-5D improves the mean average precision by 4.23% on the BDD data sets and 1.68% on the KITTI data sets. Finally, by pruningWe present a comprehensive analysis of YOLO’s evolution, examining the innovations and contributions in each iteration from the orinal YOLO up to YOLOv8, YOLO-NAS, and YOLO