\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 80.57 \% & 81.81 \% & 80.75 \% & 85.69 \%\\
PEDESTRIAN & 44.20 \% & 72.09 \% & 44.43 \% & 91.79 \%
\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 & 83.37 \% & 98.72 \% & 90.40 \% & 31162 & 405 & 6217 & 3.64 \% & 34918 & 798\\
PEDESTRIAN & 48.52 \% & 92.70 \% & 63.70 \% & 11286 & 889 & 11975 & 7.99 \% & 13018 & 264
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 56.77 \% & 35.85 \% & 7.38 \% & 61 & 643\\
PEDESTRIAN & 16.49 \% & 49.83 \% & 33.68 \% & 53 & 917
\end{tabular}