\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 68.10 \% & 84.88 \% & 69.19 \% & 88.15 \%\\
PEDESTRIAN & 39.14 \% & 76.77 \% & 39.65 \% & 93.93 \%
\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 & 72.62 \% & 98.78 \% & 83.70 \% & 27212 & 335 & 10262 & 3.01 \% & 29388 & 1764\\
PEDESTRIAN & 42.39 \% & 95.01 \% & 58.62 \% & 9897 & 520 & 13452 & 4.67 \% & 10781 & 451
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 43.85 \% & 40.15 \% & 16.00 \% & 375 & 732\\
PEDESTRIAN & 14.78 \% & 40.21 \% & 45.02 \% & 118 & 650
\end{tabular}