\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 91.06 \% & 86.86 \% & 91.16 \% & 89.56 \%\\
PEDESTRIAN & 39.57 \% & 64.66 \% & 40.40 \% & 91.23 \%
\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 & 93.62 \% & 98.60 \% & 96.04 \% & 36912 & 525 & 2516 & 4.72 \% & 42233 & 680\\
PEDESTRIAN & 48.09 \% & 86.71 \% & 61.87 \% & 11193 & 1716 & 12081 & 15.43 \% & 13540 & 274
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 85.38 \% & 6.31 \% & 8.31 \% & 32 & 97\\
PEDESTRIAN & 21.99 \% & 29.21 \% & 48.80 \% & 192 & 882
\end{tabular}