\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 75.20 \% & 80.02 \% & 75.51 \% & 84.45 \%\\
PEDESTRIAN & 39.26 \% & 71.14 \% & 40.05 \% & 92.43 \%
\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 & 80.99 \% & 96.45 \% & 88.04 \% & 31011 & 1143 & 7280 & 10.28 \% & 34602 & 978\\
PEDESTRIAN & 50.54 \% & 83.33 \% & 62.92 \% & 11773 & 2355 & 11523 & 21.17 \% & 15964 & 492
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 50.00 \% & 36.46 \% & 13.54 \% & 105 & 351\\
PEDESTRIAN & 21.31 \% & 36.77 \% & 41.92 \% & 184 & 863
\end{tabular}