\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 90.76 \% & 85.83 \% & 91.09 \% & 88.46 \%\\
PEDESTRIAN & 63.48 \% & 74.92 \% & 64.13 \% & 92.17 \%
\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 & 93.08 \% & 99.02 \% & 95.96 \% & 36376 & 360 & 2705 & 3.24 \% & 44742 & 1267\\
PEDESTRIAN & 71.15 \% & 91.39 \% & 80.01 \% & 16619 & 1565 & 6740 & 14.07 \% & 21337 & 562
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 83.08 \% & 14.00 \% & 2.92 \% & 112 & 363\\
PEDESTRIAN & 42.61 \% & 40.21 \% & 17.18 \% & 149 & 841
\end{tabular}