\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 88.21 \% & 85.73 \% & 88.56 \% & 88.57 \%\\
PEDESTRIAN & 51.11 \% & 64.75 \% & 52.13 \% & 89.25 \%
\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 & 90.60 \% & 98.69 \% & 94.47 \% & 33638 & 446 & 3489 & 4.01 \% & 37846 & 1206\\
PEDESTRIAN & 61.70 \% & 87.02 \% & 72.20 \% & 14394 & 2147 & 8936 & 19.30 \% & 18380 & 944
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 76.62 \% & 20.92 \% & 2.46 \% & 121 & 474\\
PEDESTRIAN & 27.84 \% & 48.11 \% & 24.05 \% & 234 & 1378
\end{tabular}