\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 85.91 \% & 85.42 \% & 86.03 \% & 88.28 \%\\
PEDESTRIAN & 54.91 \% & 75.91 \% & 55.11 \% & 93.00 \%
\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 & 87.89 \% & 99.47 \% & 93.32 \% & 33574 & 180 & 4624 & 1.62 \% & 37991 & 866\\
PEDESTRIAN & 58.67 \% & 94.58 \% & 72.42 \% & 13642 & 781 & 9610 & 7.02 \% & 15861 & 300
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 66.77 \% & 26.62 \% & 6.62 \% & 42 & 460\\
PEDESTRIAN & 23.02 \% & 45.36 \% & 31.62 \% & 48 & 743
\end{tabular}