\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 77.63 \% & 77.80 \% & 77.81 \% & 82.60 \%\\
PEDESTRIAN & 43.76 \% & 70.48 \% & 44.08 \% & 91.83 \%
\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 & 83.35 \% & 96.27 \% & 89.34 \% & 31997 & 1239 & 6393 & 11.14 \% & 37084 & 1105\\
PEDESTRIAN & 53.97 \% & 84.94 \% & 66.01 \% & 12569 & 2228 & 10718 & 20.03 \% & 16844 & 437
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 56.31 \% & 35.23 \% & 8.46 \% & 62 & 539\\
PEDESTRIAN & 20.62 \% & 45.02 \% & 34.36 \% & 73 & 809
\end{tabular}