\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 67.38 \% & 83.98 \% & 67.42 \% & 87.66 \%\\
PEDESTRIAN & 17.71 \% & 65.22 \% & 18.19 \% & 92.02 \%
\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 & 72.65 \% & 96.05 \% & 82.73 \% & 26837 & 1104 & 10101 & 9.92 \% & 28923 & 851\\
PEDESTRIAN & 31.87 \% & 71.09 \% & 44.01 \% & 7445 & 3027 & 15913 & 27.21 \% & 10863 & 401
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 43.08 \% & 36.77 \% & 20.15 \% & 13 & 212\\
PEDESTRIAN & 9.97 \% & 23.02 \% & 67.01 \% & 110 & 674
\end{tabular}