\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 83.55 \% & 84.61 \% & 84.28 \% & 86.99 \%\\
PEDESTRIAN & 55.71 \% & 73.93 \% & 56.23 \% & 92.59 \%
\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 & 89.21 \% & 96.69 \% & 92.80 \% & 34824 & 1192 & 4213 & 10.72 \% & 44621 & 997\\
PEDESTRIAN & 65.50 \% & 88.07 \% & 75.13 \% & 15302 & 2073 & 8059 & 18.64 \% & 21369 & 361
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 72.00 \% & 22.77 \% & 5.23 \% & 252 & 569\\
PEDESTRIAN & 34.02 \% & 30.58 \% & 35.40 \% & 121 & 797
\end{tabular}