\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 75.70 \% & 78.46 \% & 79.15 \% & 82.83 \%\\
PEDESTRIAN & 16.46 \% & 62.69 \% & 18.73 \% & 89.09 \%
\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 & 85.32 \% & 95.18 \% & 89.98 \% & 32215 & 1631 & 5541 & 14.66 \% & 37580 & 3239\\
PEDESTRIAN & 35.63 \% & 68.31 \% & 46.83 \% & 8285 & 3843 & 14970 & 34.55 \% & 16707 & 2300
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 58.00 \% & 36.92 \% & 5.08 \% & 1186 & 2092\\
PEDESTRIAN & 2.41 \% & 59.45 \% & 38.14 \% & 527 & 1636
\end{tabular}