The correct option is
B left
The phrase 'yesterday morning' indicates that the tense of the sentence is past tense. Thus, the answer must be in the past tense.
Option A is incorrect. 'lived' is in the past tense but, it does not fit in the sentence. 'lived the house' does not make any sense. Thus, even though it is in the correct tense, the verb itself is incorrect.
Option B is correct. 'left' is in the past tense. Also, 'left the house' makes sense. Thus, it has the correct tense and fits in the blank and so, it is the correct answer.
Option C is incorrect. 'has left' is in the present perfect tense and not the past tense. Thus, using it will make the tense of the sentence inconsistent.
Option D is incorrect. 'leaves' is in the simple present tense and not the past tense. Thus, using it will make the tense of the sentence inconsistent.