\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 82.40 \% & 84.75 \% & 82.82 \% & 87.86 \%\\
PEDESTRIAN & 37.69 \% & 71.05 \% & 40.68 \% & 90.89 \%
\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 & 91.70 \% & 93.14 \% & 92.42 \% & 36014 & 2651 & 3259 & 23.83 \% & 42683 & 1796\\
PEDESTRIAN & 66.01 \% & 72.70 \% & 69.19 \% & 15422 & 5790 & 7942 & 52.05 \% & 25526 & 1342
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 73.08 \% & 22.92 \% & 4.00 \% & 143 & 385\\
PEDESTRIAN & 34.02 \% & 49.83 \% & 16.15 \% & 692 & 1549
\end{tabular}