Custom Object Tracking with YOLOv5

We try to use custom object tracking algorithm to detect and get position (x,y,z) only of object, but the algorithm make our detection poorer (i.e. when object out of frame the algorithm still see object)

We just want to get (x,y,z) of object with our rectangle, that come from yolov5 detection algorithm we doesn’t need any further estimation or tracking. Is this possible?