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The frame grabs of this incident clearly show no vehicle, yellow or not. There are a couple of other yellow objects visible, so this is not a case where it would be hard to see.

In the video I actually do see the yellow outline if I really turn up the resolution, it's super faint though, hard to tell if it is there the whole time. Easier to see in https://www.youtube.com/watch?v=uClWlVCwHsI , at 4:00 the cars are all yellow when they shouldn't be.

True! While it's difficult to see, the yellow car is present and turns green when it is passed, so the car appears to be detected by the system.

Very hard to see because the brightness of color yellow is pretty close to brightness of the background, almost no contrast. They should have picked some other color instead.

I don't think optimizing for Youtube is important.

But it usually marks on coming traffic, it seems to be flat out missing the cars in some cases