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 pruningYOLOv9 marks a snificant advancement in real-time object detection, introducing groundbreaking techniques such as Programmable Gradient Information (PGI) and