\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 85.19 \% & 87.10 \% & 85.25 \% & 89.62 \%\\
PEDESTRIAN & 28.93 \% & 65.99 \% & 30.68 \% & 88.98 \%
\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 & 89.76 \% & 96.66 \% & 93.08 \% & 34125 & 1181 & 3892 & 10.62 \% & 38435 & 795\\
PEDESTRIAN & 43.65 \% & 77.72 \% & 55.90 \% & 10173 & 2916 & 13132 & 26.21 \% & 15431 & 718
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 67.54 \% & 25.38 \% & 7.08 \% & 21 & 342\\
PEDESTRIAN & 11.00 \% & 57.04 \% & 31.96 \% & 404 & 1697
\end{tabular}