\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 86.41 \% & 85.82 \% & 86.73 \% & 88.70 \%\\
PEDESTRIAN & 52.98 \% & 73.41 \% & 55.09 \% & 91.61 \%
\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 & 90.44 \% & 97.79 \% & 93.97 \% & 35588 & 804 & 3761 & 7.23 \% & 40958 & 1450\\
PEDESTRIAN & 64.49 \% & 87.86 \% & 74.38 \% & 15091 & 2086 & 8311 & 18.75 \% & 19571 & 1436
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 75.38 \% & 22.15 \% & 2.46 \% & 108 & 553\\
PEDESTRIAN & 32.30 \% & 49.14 \% & 18.56 \% & 488 & 1393
\end{tabular}