\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 87.14 \% & 82.72 \% & 87.67 \% & 86.36 \%\\
PEDESTRIAN & 60.63 \% & 74.70 \% & 61.13 \% & 92.58 \%
\end{tabular}

\begin{tabular}{c | c | c | c | c | c | c | c | c}
{\bf Benchmark} & {\bf recall} & {\bf precision} & {\bf F1} & {\bf TP} & {\bf FP} & {\bf FN} & {\bf FAR} & {\bf #objects} & {\bf #trajectories}\\ \hline
CAR & 90.26 \% & 98.54 \% & 94.22 \% & 34562 & 511 & 3728 & 4.59 \% & 40906 & 916\\
PEDESTRIAN & 66.19 \% & 93.27 \% & 77.43 \% & 15436 & 1114 & 7885 & 10.01 \% & 19227 & 315
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 69.08 \% & 25.69 \% & 5.23 \% & 183 & 486\\
PEDESTRIAN & 31.27 \% & 41.58 \% & 27.15 \% & 115 & 764
\end{tabular}