\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 86.62 \% & 83.97 \% & 87.48 \% & 87.38 \%\\
PEDESTRIAN & 58.15 \% & 71.93 \% & 58.74 \% & 91.37 \%
\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 & 90.50 \% & 97.99 \% & 94.10 \% & 34322 & 705 & 3602 & 6.34 \% & 39605 & 926\\
PEDESTRIAN & 64.12 \% & 92.61 \% & 75.77 \% & 14936 & 1192 & 8359 & 10.72 \% & 18482 & 373
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 72.46 \% & 20.77 \% & 6.77 \% & 293 & 501\\
PEDESTRIAN & 30.58 \% & 45.36 \% & 24.05 \% & 138 & 818
\end{tabular}