\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 24.60 \% & 73.89 \% & 24.66 \% & 86.68 \%\\
PEDESTRIAN & -10.16 \% & 59.10 \% & -9.68 \% & 93.86 \%
\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 & 33.73 \% & 86.67 \% & 48.57 \% & 12233 & 1881 & 24030 & 16.91 \% & 14603 & 598\\
PEDESTRIAN & 12.94 \% & 37.56 \% & 19.25 \% & 3026 & 5031 & 20360 & 45.23 \% & 8308 & 360
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 13.23 \% & 37.69 \% & 49.08 \% & 21 & 558\\
PEDESTRIAN & 0.34 \% & 17.18 \% & 82.47 \% & 112 & 630
\end{tabular}