\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 28.86 \% & 83.96 \% & 28.91 \% & 90.04 \%\\
PEDESTRIAN & 44.19 \% & 76.23 \% & 44.72 \% & 93.21 \%
\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 & 37.00 \% & 89.92 \% & 52.43 \% & 13472 & 1511 & 22939 & 13.58 \% & 22756 & 401\\
PEDESTRIAN & 53.49 \% & 86.71 \% & 66.17 \% & 12515 & 1918 & 10880 & 17.24 \% & 20995 & 263
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 22.62 \% & 17.38 \% & 60.00 \% & 16 & 58\\
PEDESTRIAN & 24.40 \% & 37.11 \% & 38.49 \% & 121 & 535
\end{tabular}