\begin{tabular}{c | c | c | c}
{\bf Benchmark} & {\bf MOTA} & {\bf MOTP} & {\bf MODA} & {\bf MODP}\\ \hline
CAR & 52.42 \% & 75.18 \% & 52.56 \% & 81.20 \%\\
PEDESTRIAN & 34.54 \% & 68.06 \% & 34.89 \% & 91.84 \%
\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 & 57.72 \% & 93.72 \% & 71.44 \% & 20408 & 1367 & 14947 & 12.29 \% & 23677 & 680\\
PEDESTRIAN & 43.94 \% & 83.16 \% & 57.49 \% & 10194 & 2065 & 13008 & 18.56 \% & 14359 & 296
\end{tabular}

\begin{tabular}{c | c | c | c | c}
{\bf Benchmark} & {\bf MT} & {\bf PT} & {\bf ML} & {\bf IDS} & {\bf FRAG}\\ \hline
CAR & 21.69 \% & 46.46 \% & 31.85 \% & 50 & 376\\
PEDESTRIAN & 14.43 \% & 38.14 \% & 47.42 \% & 81 & 685
\end{tabular}