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YOLOv$5$ can be used to detect vehicles for each frame.

Kalman Filter and Intersect of Union $($IOU$)$ based algorithm is used to identify vehicles in discrete frames.

After the determination of the road, we define the road mask.

At high$-$density conditions, vehicles can be tracked with low occlusion by other vehicles and get a high accuracy.

Even at nighttime, we can detect vehicles in dark areas or vehicles with very bright headlights and detect vehicles better than the daytime.